t2242

Mechanism Design using Creo Elements/Pro5.0 (formerly Pro/ENGINEER Wildfire 5.0)

T2242-370-01

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Training Agenda

Day 1Module 01 ― Introduction to the Mechanism Design ProcessModule 02 ― Creating Mechanism ConnectionsModule 03 ― Configuring Motion and AnalysisModule 04 ― Evaluating Analysis Results

Table of Contents

Mechanism Design using Creo Elements/Pro 5.0(formerly Pro/ENGINEER Wildfire 5.0)Introduction to the Mechanism Design Process . . . . . . . . . . . . . . . . . 1-1

Introduction to Mechanism Design. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2Understanding the Mechanism Design Process . . . . . . . . . . . . . . . . 1-4Creating the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6Verifying the Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8Adding Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9Preparing for Analysis of a Mechanism . . . . . . . . . . . . . . . . . . . . . . 1-11Analyzing the Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13Evaluating Analysis Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

Creating Mechanism Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1Creating Mechanism Bodies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2Understanding Constraints and Connection Sets . . . . . . . . . . . . . . . 2-4Understanding Predefined Connection Sets . . . . . . . . . . . . . . . . . . . 2-6Configuring Motion Axis Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8Using Rigid Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10Using Pin Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14Using Slider Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18Using Cylinder Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22Using Planar Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26Using Ball Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31Using Weld Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33Using Bearing Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38Using General Connection Sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41Using Slot Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42Creating Cam-Follower Connections . . . . . . . . . . . . . . . . . . . . . . . . 2-453D Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-50Creating Generic Gear Connections . . . . . . . . . . . . . . . . . . . . . . . . 2-53Creating Dynamic Gear Connections. . . . . . . . . . . . . . . . . . . . . . . . 2-57Creating Belt Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-61Using the Drag and Snapshot Tools . . . . . . . . . . . . . . . . . . . . . . . . 2-65

Configuring Motion and Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1Understanding Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2Understanding Analysis Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5Creating Geometry Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8Creating Motion Axis Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . 3-14Creating Slot Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

Graphing the Magnitude of Servo Motors . . . . . . . . . . . . . . . . . . . . 3-22Assigning Constant Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24Assigning Ramp Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28Assigning Cosine Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32Assigning SCCA Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36Assigning Cycloidal Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39Assigning Parabolic Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42Assigning Polynomial Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46Assigning Table Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49

Evaluating Analysis Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1Generating Measure Results for Analysis . . . . . . . . . . . . . . . . . . . . . 4-2Creating Analysis Measure Definitions . . . . . . . . . . . . . . . . . . . . . . . 4-4Evaluating Playback Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10Understanding the Animate Dialog Box . . . . . . . . . . . . . . . . . . . . . . 4-14Checking for Collisions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16Creating Motion Envelopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20

Student Preface — Using the HeaderIn this topic, you learn about the course handbook layout andthe header used to begin each lab in Pro/ENGINEER.

Course Handbook Layout:

• Modules– Topics

♦ Concept♦ Theory♦ Procedure♦ Exercise (if applicable)

Procedure / Exercise Header:

Course Handbook Layout

The information in this course handbook is organized to help students locateinformation after the course is complete. Each course is organized intomodules, each covering a general subject. Each module contains topics,with each topic focused on a specific portion of the module subject. Eachindividual topic in the module is divided into the following sections:

• Concept — This section contains the initial introduction to the topic andis presented during the class lecture as an overhead slide, typically withfigures and bullets.

• Theory — This section provides detailed information about contentintroduced in the Concept, and is discussed in the class lecture but notshown on the overhead slide. The Theory section contains additionalparagraphs of text, bullets, tables, and/or figures.

• Procedure— This section provides step-by-step instructions about how tocomplete the topic within Pro/ENGINEER. Procedures are short, focused,and cover a specific topic. Procedures are found in the Student Handbookonly. Not every topic has a Procedure, as there are knowledge topics thatcontain only Concept and Theory.

• Exercise — Exercises are similar to procedures, except that they aretypically longer, more involved, and use more complicated models.Exercises also may cover multiple topics, so not every topic will have anassociated exercise. Exercises are found in the separate Exercise Guideand/or the online exercise HTML files.

The first module for certain courses is known as a “processmodule.” Process modules introduce you to the generic high-levelprocesses that will be taught over the span of the entire course.

Procedure / Exercise HeaderTo make the exercises and procedures (referred to collectively as “labs”) asconcise as possible, each begins with a “header.” The header lists the nameof the lab, a brief scenario, the working directory, the file you are to open,and the initial datum display.

The following items are indicated in the figure above:

1. Procedure/Exercise Name— This is the name of the lab.2. Scenario— This briefly describes what will be done in the lab.3. Close Windows/Erase Not Displayed— A reminder that you should

close any open files and erase them from memory. These icons havebeen added to the left side of the main toolbar:• Click until the icon is disabled.• Click and then click OK.

4. Folder Name— This is the working directory for the lab. Lab files arestored in topic folders. The path to the lab files is:• users/student/course_folder/module_folder/topic_folder

In the example, Extrude_Features is the topic folder, and should be setas the Working Directory.• To set the working directory, right-click the folder in the folder tree orbrowser, and select Set Working Directory.

5. Model to Open — This is the file to be opened from the workingdirectory. In the above example, extrude_1.prt is the model to open.The model could be a part, drawing, assembly, an so on. If you areexpected to begin the lab without an open model, and instead create anew model, you will see Create New.• To open the indicated model, right-click the file in the browser andselect Open.

6. Datum Display Setting — The initial datum display you need to set

is shown using icons. For example, indicates that youshould display only datum planes. Datum axes, datum points, anddatum coordinate systems should be disabled in this case.• Before beginning the lab, set the icons in the datum display toolbarto match those shown in the header.

7. Task Name— Labs are broken into distinct tasks. There may be oneor more tasks within a lab.

8. Lab Steps — These are the individual steps required to completea task.

Two other items to note for labs:

• Saving — Saving your work after completing a lab is optional, unlessotherwise stated.

• Exercises— Exercises follow the same header format as Procedures.

Setting Up Pro/ENGINEER for Use with Training LabsBefore you begin a lab from any training course, it is important that youconfigure Pro/ENGINEER to ensure the system is set up to run the labexercises properly. Therefore, if you are running the training labs on acomputer outside of a training center, follow these three basic steps:

• Extract the class files zip file to a root level drive such as C: or D:.– The extracted zip will create the default course folder path automatically,

such as C:/users/student/course_folder.

• Locate your existing Pro/ENGINEER shortcut.– Copy and paste the shortcut to your desktop.– Right-click the newly pasted shortcut and select Properties.– Select the Shortcut tab and set the Start In location to be the same as

the course folder. For example, C:/users/student/course_folder.

• Start Pro/ENGINEER using the newly configured shortcut.– The configuration files specific to the course will be loaded.– The default working directory will be set to the course folder. You can

then navigate easily to the module and topic folders.

PROCEDURE - Student Preface — Using the Header

ScenarioIn this exercise, you learn how to use the header to set up the Pro/ENGINEERworking environment for each lab in the course.

Topic1_Folder extrude_1.prt

Step 1: Configure Pro/ENGINEER to ensure the system is set up to runthe lab exercises properly.

Perform this task only if you are running the labs on a computeroutside of a training center, otherwise proceed to Task 2.

1. Extract the zipped class files to a root level drive such as C: or D:.• The extracted ZIP will create the default course folder pathautomatically, such as C:/users/student/course_folder.

2. Locate your existing Pro/ENGINEER shortcut.• Copy and paste the shortcut to your desktop.• Right-click the newly pasted shortcut and select Properties.• Select the Shortcut tab and set the Start In location to be the sameas the course folder, for example C:/users/student/course_folder.

3. Start Pro/ENGINEER using the newly configured shortcut.• The configuration files specific to the course are loaded.• The default working directory is set to the course folder. You canthen navigate easily to the module and topic folders.

Step 2: Close all open windows and erase all objects from memory toavoid any possible conflicts.

1. Notice the two icons indicated in the header.2. Click from the main toolbar as necessary until the icon grays out.3. Click from the main toolbar.

• Click OK if the Erase Not Displayed dialog box appears.

Step 3: Browse to and expand the module folder for this procedure andset the folder indicated in the header as the Pro/ENGINEERworking directory.

1. Notice the folder indicated in theheader.

2. If necessary, select the tab fromthe navigator.• Click to view the currentworking directory folder in thebrowser.

• Click Folder Tree to expandit from the bottom of thenavigator.

• Navigate to the users/student/Course_Folder/Module1_Folder/Topic1_Folder byclicking the + next to eachfolder.

3. Right-click the Topic1_Folderfolder and select Set WorkingDirectory.

4. Click the Topic1_Folder folderto display its contents in thebrowser.

Alternatively you can use the cascading folder path in thebrowser to navigate to the topic folder, and then right-click andselect Set Working Directory from the browser.

Step 4: Open the file for this procedure and set the initial datum displayaccording to the icons shown in the header.

1. Notice the lab model is specifiedin the header.• Double-click extrude_1.prt inthe browser to open it.

2. Notice the initial datum display isspecified in the header.• Click to enable their display.• Click to disable their display.• Click to disable their display.• Click to enable their display.

3. You are now ready to begin the first task in the lab:• Read the first task.• Perform the first step.• Perform the remaining steps.

Remember to perform all the above tasks based on the headercontained in subsequent procedures.

This completes the procedure.

Module1Introduction to the Mechanism DesignProcess

Module OverviewThis module is an overview of functionality used within Pro/ENGINEER forthe design of complex mechanisms.

In this module, you learn the typical process used to design mechanism withinPro/ENGINEER and the mechanism design extension. Most companies usethis process; however, your specific company process may differ.

ObjectivesAfter completing this module, you will be able to:• Understand and describe mechanism design.• Understand and describe tools available in the Mechanism DesignExtension.

• Understand and describe a typical Pro/ENGINEER mechanism designprocess.

© 2011 PTC Module 1 | Page 1

Introduction to Mechanism DesignThe Mechanism Design extension enables you to simulatekinematic motion in your Pro/ENGINEER assemblies.

Mechanism Design Extension (MDX)enables you to:

• Define mechanism connectionsbetween components.

• Move the connected componentsusing servo motors.

• Measure changes in position,velocity, and acceleration.

• Detect and identify collisionsbetween moving components.

• Create trace curves and motionenvelopes.

The Mechanism Environment consistsof the:

• Mechanism Tree.• Motion and Dynamics toolbars. Loader Mechanism

Introduction to Mechanism Design — TheoryThe Mechanism Design Extension (MDX) is included in every seat ofPro/ENGINEER. This module is integrated within the assembly environmentand enables you to create kinematics design studies of your assemblies.

Using MDX, you can do the following:

• Define mechanism connections between components.• Move the connected components using servo motors.• Measure changes in position, velocity, and acceleration.• Detect and identify collisions between moving components.• Create trace curves and motion envelopes.

The Mechanism Dynamics Option (MDO) is required to simulategravity, force motors, springs, dampers, and forces/torques. Thisfunctionality will be covered in the Mechanism Simulation usingPro/ENGINEER Wildfire 5.0 course.

Module 1 | Page 2 © 2011 PTC

The Mechanism Environment

You access the Mechanism environment by clicking Applications >Mechanism from the main menu. The Mechanism environment is made upof a Mechanism Tree, which is located under the main model tree, and theMotion and Dynamics toolbars, located along the right side of the mainwindow. These toolbars contain icons specific to the Mechanism environment.


Understanding the Mechanism Design ProcessThe following steps are used in a typical mechanism designprocess.

Mechanism Design Workflow:

• Creating the model.• Verifying the mechanism.• Adding mechanism entities.• Preparing for analysis.• Analyzing the mechanism.• Evaluating results.• Running post-MDX processes. Adding a Mechanism Constraint

Verifying the Mechanism Adding Mechanism Entities

Understanding the Mechanism Design Process — Theory

The following steps are used in a typical mechanism design process. Notethat some of these points are optional and the process will vary depending onthe needs of your product and organization.

• Creating the model.• Verifying the mechanism.• Adding mechanism entities.• Preparing for analysis.• Analyzing the mechanism.• Evaluating results.• Running post-MDX processes.


The optional points include Running post-MDX processes as wellas certain tasks in Evaluating results.


Creating the ModelThe first step in every mechanism design is to define themechanism model.

Creating the Model:

• Create Connections• Mechanism Bodies• Motion Axis Settings

The Mechanism Model

Motion Axis Definition Creating a Pin Connection

Creating the Model — TheoryCreating a mechanism model is similar to creating a standard Pro/ENGINEERassembly, except that you position components using predefined mechanismconnection sets rather than standard assembly constraints. Any componentsin the assembly that are constrained together, with no degrees of freedombetween them, are identified as a Body of the mechanism assembly. Tocomplete the model, you configure motion axis settings of each connectionset, limiting range of motion in connections so they do not fail during ananalysis of the mechanism.

Creating ConnectionsTo create a mechanism assembly, you add components to an assemblyby clicking Insert > Component > Assemble, just as you would create anyassembly in Pro/ENGINEER. When positioning the components, rather thanusing standard assembly constraints such as Mate, Align, and Insert, youselect from a predefined list of mechanism connection sets such as Pin,Cylinder, and Slider.


The and connection tools are found in the Mechanism toolbar at theright side of the Pro/ENGINEER window. They are not found in theassembly dashboard with the other mechanism connections.

Mechanism Bodies

Components that are assembled together and have no degrees of freedombetween them are considered single bodies in the mechanism assembly.You create a Body by fully constraining components using standardPro/ENGINEER assembly constraints or by adding the Rigid mechanismconnection set. Components that are grouped as a body will move togetherwhen the mechanism moves.

Defining Motion Axis Settings

After you add connections to place components in the assembly, usethe Motion Axis Settings dialog box to define zero position references, aregeneration value for Pro/ENGINEER to use when it assembles the model,and limits on the allowed motion of the connections. By configuring motionaxis settings, you limit the range of motion in a connection so it does notfail during an analysis.

Motion Axis Settings are also important for defining the designposition of a mechanism, which is the position the assembly willtake when it is placed in other assemblies and drawings.


Verifying the MechanismThe second step in every mechanism design is to verify that theconnected components move in the manner you intended.

Verifying the Mechanism:

• Reconnect• Drag Components andBodies

Verifying the Mechanism

Verifying the Mechanism — Theory

After you create your model, you verify its motion. This is an important stepbecause it ensures that the connections produce the desired motion on theparts with respect to each other.

Your mechanism can be verified using one of the following methods:

• Reconnect— Run an assembly analysis by clicking from the main toolbaror Edit > Reconnect. This process is also known as “connecting theassembly.” If your assembly is already connected, running an assemblyanalysis does not move your mechanism.

• Drag — Use to open the Drag dialog box and interactively dragcomponents of the assembly. Use to study the general nature of how yourmechanism can move and the extent to which bodies can be positioned.Use the options in the Drag dialog box to disable connections, glue bodies,and apply geometry constraints to obtain a specific configuration. You canthen record these configurations as snapshots for later reference.


Adding Servo MotorsUse servo motors to define the mechanism's desired absolutemotion.

You can add servo motors to:

• Motion axes of a connection.• Geometric entities of acomponent.

A Motor Applying Rotational Motion A Motor Applying Linear Motion

Adding Servo Motors — TheoryYou add servo motors to specify position, velocity, or acceleration of amechanism.

Adding Servo MotorsAfter you create your model and verify the connections that enable it tomove correctly, you can add servo motors to drive the model's motion. Youuse the servo motors to define the mechanism's desired position, velocity,or acceleration.

A servo motor moves your model to satisfy the specified position, velocity,or acceleration requirements without regard for the forces needed or forinterference between bodies. Because a servo motor defines the absoluterotational or translational motion of a motion axis, the motion axis loses thedegree of freedom (DOF) associated with that motion.

You can add servo motors to:• Motion axes of a connection.• Geometric entities of a component.


Servo motors were called Drivers in previous releases ofMechanism Design. The Mechanism Dynamics Option (MDO) isrequired to add additional mechanism entities such as gravity, forcemotors, springs, dampers, forces, and torques.


Preparing for Analysis of a MechanismDefine the mechanism's initial position and measures that mustbe evaluated during the analysis run.

Analyzing Position

Prepare for analysis:

• Define initial position.• Create measures.

Add measures to evaluate:

• Position.• Velocity.• Acceleration.

Analyzing Acceleration

Preparing for Analysis of a Mechanism — TheoryBefore performing an analysis on a model, you must prepare for the analysisby first defining the initial position that the analysis will begin from. It isalso important to define measures that will be evaluated as the mechanismanalysis is run through the defined motion.

Defining the Initial PositionThe initial position of a mechanism can be defined by assigning regenerationvalues to the motion axis definitions of its connections. Regenerating themodel will then move the mechanism to that defined position. Initial positioncan also be defined by using tools in the Drag dialog box.

Creating MeasuresYou define measures before running an analysis because they are thenevaluated as the mechanism analysis moves the mechanism throughits defined motion. Measures are important because they can help you


understand and analyze the results of moving a mechanism and provideinformation that you can use to improve the mechanism's design.

You can create measures to evaluate position, velocity, or acceleration forpoints or motion axes in your assembly.


Analyzing the MechanismAnalyze your mechanism per its defined connections, selectedservo motors, and preferences.

Kinematic Analysis at Initial Position

Types of Analysis:

• Position Analysis• Kinematic Analysis

Define Preferences and Motors:

• Define Preferences• Lock Bodies• Define Motors

Kinematic Analysis at Final Position

Analyzing the Mechanism — TheoryAn analysis is run on a mechanism by first selecting the type of analysis torun and then setting the analysis preferences and motors.

Types of AnalysisWhen analyzing the mechanism, you must select the type of analysis to run.

• Create a Position Analysis — A position analysis enables you toanalyze whether your mechanism can assemble under the requirementsof the applied servo motors and connections. In previous releases ofPro/ENGINEER, position analysis was also named Repeated Assemblyand Kinematic analysis.

• Create a Kinematic Analysis — A kinematic analysis enables you toreview the motion of your model as imposed by servo motors. You can alsouse a kinematic analysis, as the first step in your design process, to locateinterference or points where the assembly analysis fails.

You will also see Dynamic, Static, and Force Balance analysis typesin the Type drop-down list; however, the Mechanism DynamicsOption (MDO) is required to run these analysis types.


Defining Preferences and Motors

After you select an analysis type, you then do the following:

• Define Preferences— Depending on the type of analysis you create, youneed to define the preferences of the analysis. These preferences includethe time domain which enables you to determine how Pro/ENGINEERrecords motion over time.

• Lock Bodies — You may lock bodies and connections so they remainfixed during the analysis.

• Define Motors— You can use the motors tabs to enable/disable specificservo motors.

The external loads tab is disabled unless you have an MDO licensebecause you cannot simulate external force/torque loads, friction,or gravity in MDX.


Evaluating Analysis ResultsEvaluate the results of your analysis to ensure mechanismdesign will function properly.

Analysis Results:

• Analysis Results Playback• Interference Check• Measures and Graphs• Create Trace Curves• Create Motion Envelopes

Identify Interferences View the Mechanism in Motion

Evaluating Analysis Results — TheoryAfter running an analysis, the results of the analysis should be reviewedto ensure the mechanism will function properly. The results of an analysisshould be reviewed using the following tools:

• Analysis Results Playback — By running an analysis playback, youcan review your mechanism model in motion. You can use the Playbacksdialog box to save, restore, remove, and export your analysis results. Afteryou run an analysis, you can save the results as a playback file and runthem in another session.

• Interference Check — You can also run the analysis playback to checkfor interferences between moving part models.

• Measures and Graphs — By reviewing measures and generatinggraphs, you can determine the position, velocity, and acceleration of yourmechanism models throughout their range of motion.

• Create Trace Curves— A trace curve graphically represents the motionof a point or vertex relative to a part in your mechanism. Trace curves canbe used to create cam profiles, slot curves, and solid geometry.


• Create Motion Envelopes — A motion envelope is a volumetricrepresentation of the moving components of your mechanism.


PROCEDURE - Process Exercise

ObjectivesAfter successfully completing this exercise, you will be able to:• Create a mechanism model.• Verify and refine a mechanism model.• Add servo motors to the mechanism.• Prepare for analysis of a mechanism.• Analyze a mechanism.• Evaluate analysis results.

ScenarioYou have been assigned to assemble and analyze the mechanism of a frontend loader. The components have already been created, it is your job toassemble them and study the mechanism.

Process loader.asm

Step 1: Create the mechanism model.

1. Click from the feature toolbar.2. In the Open dialog box, select

ARM.PRT, then click Open.3. Click to place the component

inside the graphics area.

4. Throughout this exercise, you may reorient the model as required toview the model and make selections.• Press and hold CTRL, then middle-click and drag upward to zoomout.

• Press and hold CTRL, then middle-click and drag downward tozoom in.

• Press and hold SHIFT, then middle-click and drag to pan the model.• Click to center the model in the graphics window.

If your mouse is equipped with a wheel, you can roll the mousewheel away from you to zoom out, and towards you to zoom in.


5. In the dashboard, click UserDefined to view the drop-downlist of predefined mechanismconstraint sets.

6. Select from the drop-down list.

7. Select the Axis Alignmentreferences for the Pinconnection.• Select the cylindrical surfaceof the hole in ARM.PRT.

• Select the cylindrical surfaceof the hole in GROUND.PRT.

8. Select the Translation referencesfor the Pin connection.• Select the near surface shownon ARM.PRT.

• Select the surface of the farside of the boss shown onGROUND.PRT.

9. Click .

10. Click .11. Click from the feature toolbar.12. In the Open dialog box, select

BUCKET.PRT, then click Open.13. Click to place the component



14. In the dashboard, click UserDefined to view the drop-downlist of predefined mechanismconstraint sets.

15. Select from the drop-down list.16. Reorient the model as

required and select the AxisAlignment references for the Pinconnection.• Select the cylindrical surfaceof the hole in BUCKET.PRT.

• Select the cylindrical surfaceof the hole in ARM.PRT.

17. Reorient the model as requiredand select the Translationreferences for the Pinconnection.• Select the near surface shownon BUCKET.PRT.

• Select the surface of the farside on ARM.PRT.

18. Click .19. Press CTRL + D to reorient

the model to the StandardOrientation.


20. Click .21. In the Open dialog box, select

PISTON1.ASM, then click Open.22. Click to place the component


23. In the dashboard, click UserDefined.

24. Select from the drop-down list.25. Select the Axis Alignment

references for the Pinconnection.• Select the cylindricalsurface of the hole inM_CYLINDER1.PRT.

• Select the cylindrical surfaceof the boss on GROUND.PRT.

After selecting the Axis Alignment references, the piston assemblymay reorient out of your current view. You can move the componentback into view by pressing CTRL + ALT and right-clicking to drag itback into the view.

26. Select the Translation referencesfor the Pin connection.• Select the near surface shownon M_CYLINDER1.PRT.

• Select the surface of the farside on GROUND.PRT.

27. Right-click in the graphics areaand select Add Set.


28. In the dashboard, click andselect from the drop-down list.

29. Press CTRL + ALT andmiddle-click to move thePISTON1.ASM in its remainingdegree of freedom and position,as shown.

30. Select the Axis Alignmentreferences for the Cylinderconnection.• Select the cylindricalsurface of the hole inF_CYLINDER1.PRT.

• Select the cylindrical surfaceof the hole in ARM.PRT.

31. Click .32. Press CTRL + D to reorient the model to the Standard Orientation.

33. Click .34. In the Open dialog box, select

PISTON2.ASMand then clickOpen.

35. Click to place the componentinside the graphics area.


36. In the dashboard, click UserDefined.

37. Select from the drop-down list.38. Select the Axis Alignment

references for the Pinconnection.• Select the cylindricalsurface of the hole inM_CYLINDER2.PRT.

• Select the cylindrical surfaceof the hole in BUCKET.PRT.

After selecting the Axis Alignment references, the piston assemblymay reorient out of your current view. The component can movedback into view by pressing CTRL + ALT and right-clicking to drag itback into the view.

39. Select the Translation referencesfor the Pin connection.• Select the near surface shownon M_CYLINDER2.PRT.

• Select the surface of the farside on BUCKET.PRT.

40. Right-click in the graphics areaand select Add Set.

41. In the dashboard, click andselect from the drop-down list.

42. Select the Axis Alignmentreferences for the Cylinderconnection.• Select the cylindricalsurface of the hole inF_CYLINDER2.PRT.

• Select the cylindrical surfaceof the extrusion on ARM.PRT.


43. Click .44. Press CTRL + D to reorient the model to the Standard Orientation.

Step 2: Verify and refine the mechanism.

1. Click from the main toolbar.2. In the Graphics window, select

F_CYLINDER1.PRT, the greencylinder of PISTON1.ASM.

3. Move the mouse to drag themechanism through its motion.

4. Click the middle-mouse button tocancel the movement.

5. In the Graphics window, selectM_CYLINDER2.PRT, the yellowcylinder of PISTON2.ASM.

6. Move the mouse to drag themechanism through its motion.

7. Click in the graphics area toleave the mechanism in theposition you have dragged it to.

8. Click Close from the Drag dialogbox.

Dragging the mechanism through its motion is one way of verifyingthe mechanism. If the connections were not created correctly, themechanism would not move as expected.

9. Click Applications > Mechanism.

Notice that the connections created while assembling thecomponents of the assembly are displayed in Mechanism mode.


10. Click from the main toolbar andselect FRONT.

11. Click from the main toolbar.12. Click Run from the Connect

Assembly dialog box.13. Click Yes from the Confirmation

dialog box.

The Reconnect tool is another method of verifying the mechanismhas been connected properly.

14. Return the mechanism to itsoriginal position by clicking in themain toolbar.

15. In the Mechanism tree, expand the Connections node and then theJoints node.

16. Expand the piston (PISTON1) slider connection, right-clickTRANSLATION AXIS, and select Edit Definition.

17. In the Motion Axis dialog box, edit the Current Position value from 120to 50 and press ENTER.

Notice that Pro/ENGINEER does not accept the 50 value. Awarning message in the upper-left corner of the screen tells youthat this value is outside of the acceptable range of values.

18. Edit the Current Position value from 120 to 80 and press ENTER.19. Click to set 80 as the Regen value.20. Click .


21. In the Mechanism tree, expand the piston (PISTON2) sliderconnection, right-click TRANSLATION AXIS, and select EditDefinition.

22. Edit the Current Position value from 300 to 350 and press ENTER.23. Click to set 350 as the Regen value.24. Click .

Notice that changing the Regen value of the piston assemblies haschanged the regenerated position of the mechanism.

Step 3: Add servo motors to the mechanism.

1. Click in the background of thegraphics window to de-select anyobjects that may be selected.

2. Click in the Mechanism toolbar.3. Select the Motion Axis (yellow

arrow) from the slider connectionin PISTON1.ASM.

4. In the Servo Motor Definitiondialog box, select the Profiletab and select Velocity from theSpecification drop-down list.

5. Edit the Magnitude value of A to6 and press ENTER.

6. Click OK to close the dialog box.


7. Click in the Mechanism toolbar.8. Select the Motion Axis (yellow

arrow) from the slider connectionin PISTON2.ASM.

9. Click Flip to change the directionof the motion axis so it is pointingupward, as shown.

10. In the Servo Motor Definitiondialog box, select the Profiletab and select Velocity from theSpecification drop-down list.

11. Select Parabolic from theMagnitude drop-down list.

12. Edit the value of B to .008 andpress ENTER.


The servo motors you added will be used to drive the mechanismthrough its motion, just as the pistons do in a real loader mechanism.

Step 4: Prepare the mechanism for analysis.

1. Click in the Mechanism toolbar.2. In the Measure Results dialog

box, click .3. Select a vertex at the end of the

bucket claw, as shown.4. In the Component drop-down

list, select X-component.5. In the Evaluation Method

drop-down list, select Maximum.6. Click OK and then Close.

The measurement you created will calculate the maximum distancefrom the default coordinate system for the selected vertex as themechanism goes through its motion.


Step 5: Analyze the mechanism.

1. Click in the Mechanism toolbar.2. In the Analysis Definition dialog

box, select Kinematic in theType drop-down list.

3. Edit the End Time value from 10to 50 and press ENTER.

4. Click Run.5. Click OK to close the dialog box.6. Click to return the mechanism to

its initial position.

Step 6: Evaluate the analysis results.

1. In the Mechanism tree, expandthe ANALYSES node.

2. Right-click AnalysisDefinition1(KINEMATICS) and selectRun.

3. Click Yes from the Confirmationdialog box.

4. Press CTRL + D.5. Right-click AnalysisDefinition1

and select Run.6. Click Yes from the Confirmation

dialog box.7. Click Abort from the Error

Assembly Failed ! dialog box.

The second run of the mechanism failed because you did not returnthe mechanism to its initial position before running the analysis.Starting from the end position of the first analysis run caused theanalysis to fail. Setting your mechanism to the initial position beforerunning an analysis is important.


8. Click .9. In the Mechanism tree, expand the ANALYSES node.10. Right-click AnalysisDefinition1(KINEMATICS) and select Run.11. Click Yes from the Confirmation dialog box.12. Click in the Mechanism toolbar.13. In the Measure Results dialog box, select Measure1 and then

AnalysisDefinition1.

Notice that the value 2748.27 was calculated as the maximumdistance between the selected vertex and default coordinatesystem.

14. Click Close from the Measure Results dialog box.15. In the Mechanism tree, expand the PLAYBACKS node.16. Right-click AnalysisDefinition1 and select Play.17. Click from the Animate dialog box.18. Slide the Speed bar to increase the speed of the animation.19. Spin, Pan, and Zoom the model. Notice that these operations can be

performed while the model is being animated.20. Click Close from the Animate dialog box.21. Right-click AnalysisDefinition1 from the PLAYBACKS node and

select Save to save the playback to file.22. Click Save from the Save Analysis Results dialog box.


23. Press CTRL + D.24. Click to return the mechanism to its initial position.

25. Save the mechanism assembly, close the window, and erase all filesfrom session memory.• Click from the main toolbar at the top of the interface.• Click OK from the Save Object dialog box.• In the main menu across the top of the interface, click Window >Close to close the LOADER.ASM window.

• Click File > Erase > Not Displayed from the main menu acrossthe top of the interface.

• Click OK from the Erase Not Displayed dialog box.



Module2Creating Mechanism Connections

Module OverviewIn this module, you learn to define motion in an assembly by assembling andconfiguring components using various predefined mechanism connectionsets.

ObjectivesAfter completing this module, you will be able to:• Create mechanism bodies.• Understand constraints and connection sets.• Understand predefined connection sets.• Configure motion axis settings.• Use Rigid connection sets.• Use Pin connection sets.• Use Slider connection sets.• Use Cylinder connection sets.• Use Planar connection sets.• Use Ball connection sets.• Use Weld connection sets.• Use Bearing connection sets.• Use General connection sets.• Use Slot connection sets.• Create Cam-Follower connections.• Use 3D contact.• Create Generic gear connections.• Create Dynamic gear connections.• Create Belt connections.• Use the Drag and Snapshot tools.


Creating Mechanism BodiesA body is a single component or group of components thatmoves as a single body within a mechanism.

Mechanism Bodies:

• A single part or sub-assembly thatmoves within the mechanism.

• A group of components thatmove as a single body within themechanism.

Placement Constraints:

• User-Defined Constraints• Mechanism Connection Sets

Ground Bodies:

• Components within a mechanismthat do not move.

Four Bodies and a Ground

Creating Mechanism Bodies — TheoryA body is a component or group of components placed in a mechanism usinga predefined connection set. The component or group of components moveswithin the mechanism as a single body.

Mechanism BodiesPro/ENGINEER automatically defines mechanism bodies based on theconstraints used when positioning components in an assembly. For example,two parts that are assembled together using constraints (such as Mate andInsert) and have no remaining degrees of freedom are each grouped asa single body. If there is a degree of freedom remaining or the parts areassembled using predefined connection sets such as Pin, Slider, and so on,they will each be identified as a unique body and they will each move assuch within the mechanism.

In Mechanism mode, you can expand each connection listed in theMechanism tree to view the identified bodies of the connection. If you selecta body from the Mechanism tree, the part or group of parts that make up thatbody will be highlighted in the graphics area. If you right-click and select Info> Details, an information window will open and provide information regardingthe contents of the selected body.


Placement Constraints

There are two types of constraints in the Component Placement dashboard.You can use standard user-defined constraints such as Mate, Align, andInsert, or you can use predefined connection sets to define connections suchas Pin and Slider. If you assemble two components using user-definedconstraints, but they are only partially constrained, a connection is assumed.

When assembling components using predefined connection sets, you canonly reference a single body in the assembly and a single body in thecomponent being placed. When you select the first assembly entity for apredefined constraint set, you can select reference entities only from thesame body for the remaining constraints of that connection. This is also truewhen selecting the component references.

Grounded Components

Ground bodies in a mechanism do not move with respect to the assembly.You can include several parts or sub-assemblies in the ground body. Todefine a ground body, you fully constrain a component with constraints thatreference the default assembly datums or a part or assembly already in theground. If you under-constrain the component, it is not placed in the groundbody and is considered a new body.

Features belonging to a mechanism body, but with references toa grounded component, will remain in position on the body as it isdragged. The feature position may change however, if the body isdragged to a new location and regenerated at that location.


Understanding Constraints and Connection SetsConstraints define the fixed position of a component whileconnections constrain the motion of a component.

User-Defined Constraints:

• Assemble components to formmechanism bodies.

• Also called standard assemblyconstraints.

• Includes constraints such as Mate,Align, and Insert.

Predefined Connection Sets:

• Assemble components by constrainingmotion along axes, planes, and curves.

• Also called mechanism connection sets.• Includes connections such as Pin,Cylinder, and Slider.

Barrel Bolt Assembly

Understanding Constraints and Connections — TheoryConstraints define the fixed position of a component while connection setsconstrain the motion of a component.

User-Defined ConstraintsYou use standard constraints to assemble individual models to form bodies inmechanisms. These bodies act as a single unit and do not move in relationto one another.

In the barrel bolt assembly shown, the brown base, gold barrel, and fourscrews are assembled using user-defined constraints such as Mate andInsert. These components do not move in relation to one other because theyhave been constrained so all degrees of freedom (DOF) are removed. Thesecomponents form the ground body of the mechanism.

User-defined constraints were also used to assemble the gray bolt andhandle parts that slide in this mechanism. These two components form thesecond body of the mechanism.

User-defined constraints can also be referred to as standardassembly constraints.


Predefined Connection Sets

Connection sets assemble components by constraining motion along certainaxes, planes, and curves. Components assembled with connections are freeto rotate and/or translate about one another. Pin, Cylinder, Slot, and Planarare examples of connection sets available in Pro/ENGINEER.

Connection sets are important because they enable you to free certaindegrees of freedom (DOF). Thus, connection sets are not rigid and enableyou to impart realistic motion on your models. In the barrel bolt assemblyshown, a Slot connection set is used to define the motion of the bolt andhandle body as it moves through the mechanism.

Predefined connection sets can also be referred to as mechanismconnection sets.


Understanding Predefined Connection SetsPredefined connection sets constrain the motion of a componentwhile still permitting various degrees of freedom.

Type Total DOF Rotation Translation

0 0 0

1 1 0

1 0 1

2 1 1

3 1 2

3 3 0

0 0 0

4 3 1

Varies Varies Varies

6 3 3

Varies Varies Varies


Understanding Predefined Connection Sets — Theory

There are several different types of predefined connection sets inPro/ENGINEER. The table displays each connection set type and thedegrees of freedom in the set.

Before selecting a predefined connection set, you must understand howplacement constraints and degrees of freedom are used to define movement.Then you can select the correct connections to define your mechanisms.

The Total DOF column displays the connection's total number ofdegrees of freedom. The Rotation and Translation columns thenbreak down the allowed motion of the mechanism in those terms.

Using Predefined Connection Sets

Select a predefined connection set from the Predefined Connection Setlist in the Component Placement dashboard in Assembly mode. Use theconnection sets to position components and define movement in yourassembly. Predefined connection sets serve three purposes:1. Define which placement constraints are used to place the component

in the model.2. Restrict the motion of bodies relative to each other, reducing the total

possible degrees of freedom (DOF) of the system.3. Define the kind of motion a component can have within the mechanism.


Configuring Motion Axis SettingsUse motion axis settings to control the movement of componentconnections.

Motion Axis Settings:

• Regen Value• Zero Position• Minimum and Maximum Limits• Dynamic Properties

Regenerated Position

Regenerated Position in Drawing Evaluating the Mechanism

Configuring Motion Axis Settings — Theory

Motion axis settings enable you to precisely control the displacement ofconnections in the direction of motion. Motion axis settings are importantbecause they enable you to limit the range of motion and to define theregenerated configuration of the model. Motion axis enable you to control themotion of a model in each degree of freedom. For example, a connection withthree degrees of freedom will have three motion axis that may be defined.

You can configure motion axis settings to control the following values:• Regen Value — The motion axis regeneration value determines theposition of the component in the assembly when the model is regenerated.The regeneration value of a motion axis is a dimension that can be used infamily tables, relations, and wherever dimensions are used. This value isignored during dragging and analysis operations.

• Zero Position — Sets the dimension controlling the motion of theconnection to be zero, at the components current position.

• Minimum and Maximum Limits — Limit the minimum and maximumvalues that can be used to define the motion of a connection. The


component cannot move outside of these limits either by dragging or byediting the dimension values.

• Dynamic Properties— The Dynamic properties functionality can be usedto set friction and restitution parameters.

Motion axis settings can be set when placing or editing the placement of acomponent. Within Mechanism mode, the motion axis of a connection canbe selected in the Mechanism tree or graphics area and its definition can beedited from the Motion Axis dialog box.

Both the Zero Position and Dynamic Properties functionality requirethe Mechanism Dynamics Option (MDO). The buttons to accessthese tools are not visible if you do not have a license for MDO.

The Regen Value

The Regen Value parameter is important for defining the final design positionof each mechanism assembly. This final design position is the position inwhich your mechanism is documented and is often assembled to othercomponents.

For example, if you dragged the position of a component in the assembly to anew location and then saved the model, that new position will be propagatedto every drawing and assembly the mechanism is used in. However, youtypically do not want your drawing to change every time the mechanism isevaluated. The Regen Value parameter can be used to ensure that this doesnot happen; each time your mechanism is regenerated, it will return to thedefined regen values assigned to its connections.

The Regen Value can also be used as flexible dimensions whenadding flexibility to a component. This means a regen value can beset to define the position of the mechanism in a drawing and also bemade flexible when defining varying assembly positions.


Using Rigid Connection SetsUse the Rigid connection set to fully constrain a component sothat it has no movement in the mechanism.

Rigid:

• Standard Constraint Types• Motion Eliminated

Motion Eliminated by a Rigid Connection

Using Rigid Connection Sets — Theory

Rigid connection sets are used to connect two components so they do notmove relative to one another. Components connected in such a way becomea single body.

Similar to the User Defined assembly constraint set, a Rigid connection setuses any valid combination of standard assembly constraints such as Mate,Align, and Insert to constrain the position of a component. Rigid connectionsenable you to group any valid set of assembly constraints into the connectionset. These constraints can be a fully constrained set or a partially constrainedsubset.

Motion Eliminated

You cannot use a rigid connection set to connect multiple bodies of asub-assembly and still maintain motion in that sub-assembly. When usinga rigid connection to assemble a sub-assembly with Mechanism Designconnections to a master assembly, the sub-assembly will be considered as aground body and will lose its internal motion.


In the assembly shown, if the piston sub-assembly is constrainedusing a Rigid connection set at each end of the piston sub-assembly(referencing both components of the sub-assembly), the motionin the sub-assembly will be lost. A Weld connection set shouldbe used in situations where multiple components need to beconstrained but motion must be retained.


PROCEDURE - Using Rigid Connection Sets

ScenarioPosition a sub-assembly using the Rigid connection sets and observe thatmotion in the sub-assembly is eliminated.

Rigid rigid.asm

Task 1: Assemble the piston sub-assembly using the Rigid connection set.


RIGID_PISTON.ASM, then clickOpen.


4. In the dashboard, click UserDefined and select from thedrop-down list.

5. Select the near surface ofPISTON2.PRT and thebottom surface of the slot inRIGID_BRACKET.PRT.

6. In the dashboard, select from thedrop-down list as the offset type.

7. Select the near planar surfaceof PISTON2.PRT and thefar surface of the slot inRIGID_BRACKET.PRT.



9. Select the near planarsurface of PISTON2.PRTand the near surface ofRIGID_BRACKET.PRT.


11. Click .

Task 2: Rigidly constrain the bottom of the piston sub-assembly.

1. Click and select the redPISTON1.PRT from the modeltree.

2. Drag the part to observe that thesub-assembly has maintained itsmotion.

3. Middle-click to abort the draggingand click Close from the Dragdialog box.

4. In the model tree, right-clickRIGID_PISTON.ASM and selectEdit Definition.

5. In the dashboard, clickPlacement and select NewSet from the Placement tab.

6. Select the bottom surface ofPISTON1.PRT and the surfaceat the bottom of the slot inRIGID_BRACKET.PRT.

7. In the dashboard, select from thedrop-down list to set the offsettype.

Notice the “Constraints Invalid” message in the dashboard.Adding a rigid connection to a second component of thesub-assembly has eliminated the motion of the sub-assemblyso these surfaces cannot be coincident. To assemble thissub-assembly and maintain its motion, the Weld connection setshould be used.

8. Click from the dashboard and click Yes to confirm.



Using Pin Connection SetsUse the Pin connection set to assemble a component with only arotational degree of freedom.

Pin Connection Sets:

• Axis Alignment – Constraint• Translation – Constraint• Rotation Axis – Motion Axis

A Pin Connection

Using Pin Connection Sets — Theory

A Pin connection set is used to connect a component to a referenced axis sothe component rotates or moves along this axis with one rotational degreeof freedom.

Using Pin Connection Sets

A Pin connection set contains two constraint settings and one rotation axissetting:

• Axis Alignment — This constraint defines the axis that the componentis aligned to and rotates about. The reference can be a selected axis,edge, curve, or cylindrical surface.

• Translation— This defines the component's position along the alignmentaxis. The reference can be a selected datum point, vertex, datum plane, orplanar surface.

• Rotation Axis — This is the rotational motion axis element of theconnection set. You use it to define rotational motion settings for theconnection such as the zero position, regenerated position, minimumlimits, and maximum limits.


PROCEDURE - Using Pin Connection Sets

ScenarioAssemble a component using the Pin connection set.

Pin pin.asm

Task 1: Assemble the gear component using the Pin connection set.


PIN_GEAR.PRT, then clickOpen.



5. Select the cylindrical surfaceof PIN_BASE.PRT andthe cylindrical surface ofPIN_GEAR.PRT as referencesfor the Axis Alignment constraint.

6. Select the top surface ofPIN_BASE.PRT and thesurface on the lower lip ofPIN_GEAR.PRT as referencesfor the Translation constraint.

7. Click .


8. Click and selectPIN_GEAR.PRT.

9. Drag the part through itsremaining degree of freedom,the rotational degree of freedom.

10. Click in the graphics area torelease the model.


If you drag a component to a new position, that position will bereflected in referencing assemblies and drawings. Define a fixeddesign position by setting a regeneration value for the model.

Task 2: Set a regeneration value for the rotational degree of freedom.

1. In the model tree, right-click PIN_GEAR.PRT and select EditDefinition.

2. In the main toolbar, click .

3. In the dashboard, clickPlacement. In the Placementtab, do the following:• Click Rotation Axis.• In the graphics area, selectASM_FRONT.

• In the graphics area, selectdatum plane RIGHT fromPIN_GEAR.PRT.

• In the Placement tab, edit thevalue of the Current Positionto 90 if necessary and pressENTER.

• Click to set the Regen valueof the Rotation Axis.

• Select the Enableregeneration value checkbox.


4. Click .5. In the main toolbar, click .6. Click and select PIN_GEAR.PRT.7. Drag the part to a new position.8. Click in the graphics area to release the model.9. Click Close from the Drag dialog box.

10. Click .

Notice the model hasreturned to the regenerationposition you defined in theprevious steps.



Using Slider Connection SetsUse the Slider connection set to assemble a component withonly a translational degree of freedom.

Slider Connection Sets:

• Axis Alignment – Constraint• Rotation – Constraint• Translation Axis – MotionAxis

A Slider Connection

Using Slider Connection Sets — Theory

A Slider connection set is used to connect a component to a referenced axisso the component slides or moves normal to this axis with one translationaldegree of freedom.

Using Slider Connection Sets

A Slider connection set contains two constraint settings and one translationaxis setting:

• Axis Alignment — This constraint defines the axis that the componentslides along. The reference can be a selected axis, edge, curve, orcylindrical surface.

• Rotation — This constraint restricts the components rotation along theaxis of alignment. The reference can be a selected datum plane or otherplanar surface.

• Translation Axis — This is the translational motion axis element of theconnection set. You use it to define translational motion settings for theconnection such as the zero position, regenerated position, minimumlimits, and maximum limits.


PROCEDURE - Using Slider Connection Sets

ScenarioAssemble a component using the Slider connection set.

Slider slider.asm

Task 3: Assemble the piston components using the Slider connection set.


SLIDER2.PRT, then click Open.3. Click to place the component



5. Select the cylindrical surface ofSLIDER1.PRT and the cylindricalsurface of SLIDER2.PRTas references for the AxisAlignment constraint.

6. In the dashboard, select thePlacement tab. Notice that theAxis Alignment constraint hasbeen defined and the Rotationconstraint is now active.

7. Press CTRL + ALT andmiddle-click to drag thecomponent in this yet to bedefined, rotational degree offreedom (DOF).

8. Select the planar surfacesshown on SLIDER1.PRT andSLIDER2.PRT as references forthe Rotation constraint.

9. Press CTRL + ALT andmiddle-click to drag thecomponent again.Notice that this is no longerpossible since the rotationalDOF has been constrained.


10. Press CTRL + ALT and click (theleft mouse button) to drag thecomponent again.Notice that this enables youto drag the component in thedirection of its motion axis.

11. In the Placement tab, selectTranslation Axis.

12. Spin the model as requiredand select the planar surfacesshown on SLIDER1.PRT andSLIDER2.PRT.

13. Configure the motion axis settings:• Edit the value of the Current Position to 80 and press ENTER.• Click to set the Regen value of the Translation Axis.• Select the Enable regeneration value check box.• Select the Minimum Limit check box, edit the value to 80, andpress ENTER.

• Select the Maximum Limit check box, edit the value to 425, andpress ENTER.

14. Click .

15. Click and select SLIDER2.PRT.16. Drag the part through its motion.

Notice that the model cannot be dragged past the minimum andmaximum translation limits you defined in the Translation Axis.



19. Click .


Notice the model has returned to the regeneration position youdefined in the Translation Axis.



Using Cylinder Connection SetsUse the Cylinder connection set to assemble a component withrotational and transitional degrees of freedom.

Cylinder Connection Sets:

• Axis Alignment – Constraint• Translation Axis – MotionAxis

• Rotation Axis – Motion Axis

A Cylinder Connection

Using Cylinder Connection Sets — Theory

A Cylinder connection set is used to connect a component to a referencedaxis so the component moves along and rotates about the axis of alignmentwith two degrees of freedom.

Using Cylinder Connection Sets

A Cylinder connection set contains one constraint and two motion axissettings.

• Axis Alignment — This constraint defines the axis that the componentslides along. The reference can be a selected axis, edge, curve, orcylindrical surface.

• Translation Axis — This is translational motion axis element of theconnection set. You use it to define translational motion settings for theconnection such as the zero position, regenerated position, minimumlimits, and maximum limits.



PROCEDURE - Using Cylinder Connection Sets

ScenarioAssemble a component using the Cylinder connection set.

Cylinder cylinder.asm

Task 1: Assemble the component using the Cylinder connection set.


CYLINDER2.PRT, then clickOpen.


4. In the dashboard, click User Defined and select from the drop-downlist.

5. In the dashboard, click Placement to open the Placement tab.

The Axis Alignment constraint is active and neither theTranslation Axis or Rotation Axis selections are visible.

6. Select the cylindrical surfaceof CYLINDER1.PRT andthe cylindrical surface ofCYLINDER2.PRT as referencesfor the Axis Alignment constraint.

7. If necessary, click Flip in thePlacement tab to orient the smallboss, as shown.

8. Press CTRL + ALT andmiddle-click to rotate thecomponent to a position, asshown.

9. Select Translation Axis.


10. Select the planar surfacesshown on CYLINDER1.PRT andCYLINDER2.PRT as referencesfor the Translation Axis motion.

11. Edit the value of the CurrentPosition to 0 and press ENTER.

12. Select the Enable regeneration value check box.13. Select the Minimum Limit check box, edit the value to 0, and press

ENTER.14. Select the Maximum Limit check box, edit the value to 130, and

press ENTER.

15. Select Rotation Axis.16. Select the planar surfaces

shown on CYLINDER1.PRT andCYLINDER2.PRT as referencesfor the Rotation Axis motion.

17. Edit the value of the CurrentPosition to 180 and pressENTER.

18. Click to set the Regen value of the Translation Axis.19. Select the Enable regeneration value check box.20. Select the Minimum Limit check box, edit the value to 130, and

press ENTER.21. Select the Maximum Limit check box, edit the value to 180, and

press ENTER.22. Click .

23. Click and selectCYLINDER2.PRT.

24. Drag the part through its motion.

Notice that you cannot drag the component beyond the minimumand maximum limits.




27. Click .

Notice the model has returned to the regeneration position youdefined in the Motion Axes.



Using Planar Connection SetsUse the Planar connection set to assemble a component withrotational and transitional degrees of freedom.

Planar Connection Sets:

• Planar – Constraint• Translation Axis 1 – MotionAxis

• Translation Axis 2 – MotionAxis

• Rotation Axis – Motion Axis

A Planar Connection

Using Planar Connection Sets — TheoryA Planar connection set is used to connect a component to a referencedplanar surface that the component moves along that plane, with threedegrees of freedom.

Using Planar Connection SetsA Planar connection set contains one constraint and three motion axissettings. There are two degrees of freedom in the referenced plane and onedegree of freedom around an axis perpendicular to it.

• Planar — This constraint defines the parallel plane that the componentmoves along. The constraint is a single planar mate or align constraintthat can be flipped or offset as required. The reference can be a selectedplanar surface or datum plane.

• Translation Axis 1— This is the first translational motion axis element ofthe connection set. You use it to define translational motion settings forthe connection such as the zero position, regenerated position, minimumlimits, and maximum limits.

• Translation Axis 2— This is the second translational motion axis elementof the connection set. You use it to define translational motion settings forthe connection such as the zero position, regenerated position, minimumlimits, and maximum limits.



PROCEDURE - Using Planar Connection Sets

ScenarioAssemble a component using the Planar connection set.

Planar planar.asm

Task 1: Assemble the component using the Planar connection set.


PLANAR2.PRT, then click Open.3. Click to place the component



5. Select the planar surface atthe top of PLANAR1.PRT andthe bottom of PLANAR2.PRTas references for the Planarconstraint.

6. Click and from the main toolbar to enable their display.7. In the dashboard, click Placement to open the Placement tab.

8. Select Translation Axis 1.9. In the graphics area, select

datum plane RIGHT and datumpoint CONNECT_REF.


11. Select the Enable regenerationvalue check box.

12. Select the Minimum Limit check box, edit the value to -28, andpress ENTER.

13. Select the Maximum Limit check box, edit the value to 28, and pressENTER.


14. Select Translation Axis 2.15. In the graphics area, select

datum plane FRONT and datumpoint CONNECT_REF.



18. Select the Minimum Limit check box, edit the value to -28, andpress ENTER.

19. Select the Maximum Limit check box, edit the value to 28, and pressENTER.

20. Select Rotation Axis.21. In the graphics area, select the

datum plane FRONT from bothmodels.

22. If necessary, edit the value of theCurrent Position to 0 and pressENTER.


24. Click .

25. Click and to disable their display.26. Click , select PLANAR2.PRT,

and drag it through its motion.

You can drag the component in all three DOF but you cannotdrag the component beyond the minimum and maximum limitsyou have defined.



28. Click .



Using Ball Connection SetsUse the Ball connection set to assemble a component with threerotational degrees of freedom.

Ball Connection Sets:

• Point Alignment – Constraint• No Motion Axis

A Ball Connection

Using Ball Connection Sets — Theory

A Ball connection set connects a component at a point so it can rotate in anydirection with three degrees of freedom.

Using Ball Connection Sets

A Ball connection set contains one Point Alignment constraint, three degreesof freedom, but no motion axis settings.

• Point Alignment— This constraint defines the point that the componentrotates about. The constraint is a single point to point alignment. Select adatum point or vertex as the alignment references.

• No Motion Axes — This connection set contains no motion axes tocontrol or limit the rotation about the constraint point. However, as with anyconnection, additional connection sets can be added to limit the motion ofthe connected component.

In situations where you need to connect a true ball or sphere(rather than a point or vertex), create a datum point at the centerof the sphere using the sphere as reference and the At Centeroption, as shown.


PROCEDURE - Using Ball Connection Sets

ScenarioAssemble a component using the Ball connection set.

Ball ball.asm

Task 1: Assemble the component using the Ball connection set.


LEVER.PRT, then click Open.3. Click to place the component



5. In the graphics area, selectboth datum points namedBALL_REF.

6. Click to disable their display.7. In the dashboard, click Placement to open the Placement tab.

Notice that there are no motion axes to define for the Ballconnection set.

8. Click .

9. Click , select LEVER.PRT anddrag it through its three DOF.


11. Click .

Because there is no motion axis control, the model remains in theposition it was placed, even after regeneration.



Using Weld Connection SetsUse Weld connections to rigidly constrain a sub-assembly, yetmaintain open degrees of freedom in the sub-assembly.

Weld:

• Coordinate System toCoordinate System

• Fully Constrained• Maintains Movement

Weld Connections

Using Weld Connection Sets — Theory

Like the Rigid connections set, the Weld connection set is used to connecttwo components so they do not move relative to one another. Componentsconnected in such a way become a single body. Unlike the Rigid connectionset, the Weld connection enables sub-assemblies to be rigidly constrained,yet it also enables for open degrees of freedom in the sub-assembly to bemaintained.

In the assembly shown, both ends of the piston sub-assemblyare connected with a weld connection. This enables the pistonsub-assembly to maintain its defined motion so it can compressand expand, as the bracket is flexed. This is not possible whenusing the rigid connection set.

Creating a Weld Connection

You create a weld connection by aligning coordinate systems, just as you dousing the standard constraint.


In most cases, prior to the assembly operation, you will have tocreate coordinate systems that properly position the components.You will need to create one coordinate system for the componentreference and one for the assembly reference.


PROCEDURE - Using Weld Connection Sets

ScenarioPosition a sub-assembly using the Weld connection sets and observe thatmotion in the sub-assembly is maintained.

Weld weld.asm

Task 1: Assemble the piston sub-assembly using the Weld connection set.


WELD_PISTON.ASM, then clickOpen.



5. Select the coordinate systemTOP_WELD_REF from bothmodels.

6. In the dashboard, clickPlacement and select NewSet from the Placement tab.

7. Select the coordinate systemBOTTOM_WELD_REF fromboth models.

8. Click .

The motion defined in the piston sub-assembly enables it toexpand and span the length of the bracket.


Task 2: Verify the connections.

1. Click to disable their display.2. Click select the

WELD_PISTON.ASM. Moveit to verify the connection.

3. Observe that there is nomovement because each end ofthe piston is fixed with a weldconnection set.


5. In the model tree, expandWELD_BRACKET.PRT,right-click Extrude 1, andselect Edit.

6. Edit the dimension 1500 to 1600and press ENTER.

7. Click .

The motion defined in the piston sub-assembly enables it toexpand as the bracket changes.

8. In the model tree, expandWELD_BRACKET.PRT ifnecessary, right-click Extrude 1,and select Edit.

9. Edit the dimension 1600 to 1300and press ENTER.

10. Click .


The motion defined in the piston sub-assembly enables it tocompress as the bracket changes.



Using Bearing Connection SetsUse the Bearing connection set to assemble a component withfour degrees of freedom.

Bearing Connection Sets:

• Point Alignment – Point onLine Constraint

• Translation Axis – MotionAxis

A Bearing Connection

Using Bearing Connection Sets — Theory

A Bearing connection set is really a combination of both Ball and Sliderconnections with four degrees of freedom. It is used to connect a point to areferenced axis so the component moves along the axis with one translationaldegree of freedom and three rotational degrees of freedom.

Using Bearing Connection Sets

A Bearing connection set contains one constraint and one translation axissetting.

• Point Alignment — This constraint defines the connection between apoint and axis that the component is aligned to and rotates about. Thepoint reference can be a datum point or vertex. The second reference canbe an edge, axis, or curve.

• Translation Axis — This defines the component's position along thealignment axis. The reference can be a selected datum point, vertex,datum plane, or planar surface.

There are no axis settings for the three rotational degrees offreedom.


PROCEDURE - Using Bearing Connection Sets

ScenarioAssemble a component using the Bearing connection set.

Bearing bearing.asm

Task 1: Assemble the component using the Bearing connection set.


BEARING2.PRT, then clickOpen.



5. Select the datum point CENTERand axis A_1 in the graphics.

6. Click and to disable their display.

7. In the dashboard, select the Placement tab and do the following:• Click Translation Axis.• Click the Placement tab to close it.• In the model tree, select ASM_RIGHT.• In the dashboard, select the Placement tab to reopen it.• Edit the value of the Current Position to 15 and press ENTER.• Click to set the Regen value of the Translation Axis.• Select the Enable regeneration value check box.• Select the Minimum Limit check box, edit the value to 15, andpress ENTER.

• Select the Maximum Limit check box, edit the value to 185, andpress ENTER.


8. Click .

9. Click and selectBEARING2.PRT.

10. Drag the part through its degreesof freedom.



It seems to be more difficult to control the movement of acomponent that contains three DOF when dragging.Because of the translation axis controls, the component does notmove past the ends of the model.

13. Click .

The model returns to theRegen value defined in thetranslation axis. There is noaxis control for the rotationaldegrees of freedom sothe model remains at therotation it was dragged to.



Using General Connection SetsUse the General connection set to create any number of degreesof freedom in your model.

General Connection Sets:

• One or two constraints.• Varying translation androtational Axis Settings.

• Number and type ofAxis Settings dependenton number and type ofconstraints.

A General Connection

Using General Connection Sets — Theory

When specific predefined connection sets do not adequately define yourmechanism, use the General connection set to create any desired number ofdegrees of freedom when connecting your model. After you determine thenumber of degrees of freedom, you can create the required type of generalconnection by selecting one or two placement constraints in the Placementdashboard.

After defining the placement constraint or constraints, you will be presentedwith a number of axes settings. The type and number of axis settings willvary, depending on the number and type of constraints that were used toconstrain your model.

Most of the Pro/ENGINEER constraints and relevant references are allowedfor your selection when you define the general connection. However, thefollowing constraint types cannot be used to define a General connection:

• A point on a non-linear curve or a non-planar surface.• A Tangency constraint.


Using Slot Connection SetsUse the Slot connection set to make a point on a componentconnect to and follow a 2-D or 3-D trajectory.

Slot Connection Sets:

• Point Alignment – Point onLine Constraint

• Slot Axis – Motion Axis

A 3-D Slot Connection

Using Slot Connection Sets — TheoryA Slot connection has four degrees of freedom. As the reference pointfollows the trajectory, it is free to rotate in the X, Y, and Z directions. Start andendpoints of the trajectory can be configured using the slot axis settings.

Use the Slot connection when you want to make a point connect to and followa 2-D or 3-D trajectory.

Using Slot Connection SetsA Slot connection set contains one constraint setting and one slot axis setting.

• Point Alignment — This constraint defines the connection between apoint and the trajectory that the point follows. The point reference can be adatum point or vertex. The trajectory reference can be an edge or curve.To select multiple segments, press CTRL when selecting.

• Slot Axis — This defines the start and endpoints of the trajectory. Thereference can be a selected datum point or vertex.

In the assembly shown, a Cylinder connection is also used so thebarrel of the mechanism will stay on track as the sub-assemblymoves along the slot.


PROCEDURE - Using Slot Connection Sets

ScenarioAssemble a component using the Slot and Cylinder connection sets.

Slot slot.asm

Task 1: Assemble the component using the Slot connection set.


SLOT_BARREL.ASM, then clickOpen.



5. Select the cylindrical surfaceof SLOT_BARREL.PRT andSLOT_BASE.PRT.

6. In the dashboard, select the Placement tab and click New Set.7. In the dashboard, click and select from the drop-down list.

8. Select the datum point SLOT.9. Press CTRL and select five

segments of the trajectory curveshown (there are two smallsegments at each end).

10. In the Placement tab, click SlotAxis.

11. Select the far right endpoint ofthe trajectory curve; this is thezero location.

The model may temporarilyshift out of position. Thiswill be corrected when theconnection is completed.



13. Select theMinimum Limit checkbox and select the far rightendpoint of the trajectory curve;this is the zero location.

14. Select the Maximum Limitcheck box and select the far leftendpoint of the trajectory curve.

15. Click .

16. Click to disable their display.17. Click and select SLOT_BARREL.ASM.

18. Drag the part through its degreesof freedom.



21. Click .

The model returns to the Regen value defined as the far rightendpoint of the trajectory.



Creating Cam-Follower ConnectionsUse Cam-Follower connections to create cam and followermotions in a 2-D plane.

Cam-Follower Connections:

• Cam-Follower ConnectionDefinition dialog box

• Cam1 and Cam2 Definition• Cam-Follower Properties

A Cam-Follower Connection

Creating Cam-Follower Connections — TheoryUnlike most connections in Pro/ENGINEER, the Cam-Follower connection isnot found in the assembly dashboard. The Cam-Follower connection tool isonly available in Mechanism mode and is started by either clicking Insert >Cams or clicking from the mechanism toolbar. The connection is then appliedto a component that has been previously placed in the assembly and ismeant to define the remaining degree of freedom.

While Cam-Follower connections are applied to 3-D models, the connectionis treated as a two-dimensional connection when performing an analysis.

Creating Cam-Follower ConnectionsIn the Cam-Follower Connection Definition dialog box, the followingconnection elements are defined:

• In the Cam1 and Cam2 tabs, select the extruded surface or 2-D curve thatdefines the profile of the cam. When you select cam surfaces, the surfacenormal direction is indicated in the graphics area by a magenta arrow. Thisis the cam side to be used for cam contact.

– Autoselect — If you select the Autoselect check box, surfaces for yourcam are automatically chosen after you select the first surface. If thereis more than one possible adjacent surface, you are prompted to selecta second surface.


– Flip — To reverse the direction of the surface normal for the cam,click Flip. If the selected surfaces are on a volume, the default normaldirection will be out, and the Flip button is inactive.

– Working Plane — If you select a straight curve or edge, the dialog boxexpands, activating the Working Plane collector. Use the selection arrowto select a point, vertex, planar solid surface, or datum plane to define aworking plane for the cam.

You can select a straight curve or edge for only one of thetwo cams.

– Depth Display Settings — If you select a surface, you can use thefollowing items to orient the cam on the surface:♦ Automatic (not available for a curve, edge, or a flat planar surface)♦ Front & Back♦ Front, Back & Depth♦ Center & Depth

• Properties – In the Properties tab, you can define the following:– Enable Liftoff - If you want to enable your cam-follower connection to

separate during a drag operation or analysis run, you must select theEnable Liftoff check box.

– Friction - If you have a Mechanism Dynamics option license, you candefine friction coefficients and a coefficient of restitution for cams withliftoff.

Tips for Creating Cam-Follower ConnectionsKeep the following points in mind when defining and using cam-followerconnections:• Pro/ENGINEER defines cams as extending infinitely in the extrusiondirection.

• A cam-follower connection does not prevent the cam from tipping. Whenrequired, add additional constraints to prevent parts from tipping.

• Each cam can have only one follower. If you want to model a cam withmultiple followers, you must define a new cam-follower connection foreach new pair.

• Try to avoid a design with a connection along a straight line in the workingplane.


PROCEDURE - Creating Cam-Follower Connections

ScenarioAssemble a component using the Cam-Follower connections.

Cam-Follow cam-follow.asm

Task 1: Use the Cam-Follower connection to constrain the model.

1. Click and select the redCAM_LEVER.PRT.

2. Drag the part to see theremaining degree of freedomthat will be controlled by theCam-Follower connection.



5. Access Mechanism mode by clicking Applications > Mechanismfrom the main toolbar.

6. Click from the mechanismtoolbar.

7. Press CTRL and select thefour curve segments that defineCam1, as shown.

8. Click OK from the Select dialogbox when finished.

9. Select the Cam2 tab.10. Select the bottom, radial surface

of CAM_LEVER.PRT that willconnect to Cam1.

11. Click OK from the Select dialogbox when finished.

12. Click OK to close theCam-Follower ConnectionDefinition dialog box.


13. Click and select the grayCAM.PRT.

14. Drag the cam-followerconnection through its motion.



17. Click .

The regeneration does not cause the model to move becausethere is no Motion Axis or Regen Value to define in aCam-Follower connection. The initial position of a Cam-Followerconnection must be defined in a servo motor.



3D Contact3D Contact simulates contact between bodies inthree-dimensional motion.

3D Contact:

• Is based on real materialproperties.

• Uses static and sliding friction.

3D Contact

3D Contact

Using 3D Contact you can simulate contact between bodies inthree-dimensional motion. The system includes static and sliding friction in itscalculations, which are based on real material properties such as Poisson'sratio, Young's modulus, and a damping coefficient. 3D contact can bedefined from a single analytical surface such as a spherical, cylindrical, orplanar surface to multiple other analytical surfaces. Contact can also bedefined from a vertex to other surfaces. The three-dimensional contact isalso active while dragging.

In the figure, 3D contact is used to simulate dropping a rubber cube into abox to visualize the cube bouncing and rotating, and coming to rest.


PROCEDURE - 3D Contact

ScenarioEdit and run a 3D contact model.

3DCONTACT table.asm

Task 1: Edit an existing 3D contact model.

1. In the model tree, expand CUBE1.PRT if necessary.2. Right-click Contact 1 and select Edit Definition.

3. In the dashboard, click WithFriction and select No Frictionfrom the drop-down list.

4. In the dashboard, select theReferences tab and do thefollowing:• In the Content Reference2 list, right-clickSurf:F7(REVOLVE_1):TABLEand select Remove.

5. Click .

Task 2: Insert a new contact.

1. Select Applications >Mechanism.

2. Select Insert > 3D Contacts.The 3D Contacts dashboardappears.

3. In the dashboard, clickReferences. In the Referencestab, do the following:• Click in the ContactReference 1: field. In thegraphics area, select the leftface of CUBE1.PRT.

• Click in the ContactReferences 2: field. Inthe graphics area select thebase circle of TABLE.PRT.


4. In the dashboard, select the Contact tab. Verify that Default is listedfor Slide 1 and Slide 2 contact properties.

5. In the dashboard, click No Friction and select With Friction. Inputfields appear for static and kinetic coefficients of friction.

6. Select 0.1 from the drop-down list for both static and kineticcoefficients of friction.

7. Click .

Task 3: Run the model.

1. In the Mechanisms tree, expandANALYSES.

2. Right-click 3D_ contact_dynamic(DYNAMICS) and select Run.

Task 4: Playback the model run.

1. In the Mechanisms tree, expandPLAYBACKS.

2. Right-click 3D_contact_dynamic and select Play.

3. The Animate window appears.Select Play.

4. Click Close.



Creating Generic Gear ConnectionsCapture any Rotational or Linear relationship using Generic gearconnections.

• Generic gear definition options:– Pitch circle diameters– Enter ratio values

• Motion relationships:– Rotational/Rotational– Rotational/Linear– Linear/Rotational– Linear/Linear Gear Example

Rotational/Linear Example

Creating Generic GearsYou can create a generic type gear connection to capture any rotational orlinear relationship between components. When using the generic gear type,you are able to specify either two pitch circle diameters, or motion ratio values.

Generic gears can be use to create a simple gear train but, unlike dynamicgear types, generic gear components do not actually have to touch.Therefore, they can be located in different locations within the assembly,enabling you to create rotational and/or linear relationships between any setof components.

You can capture the following motion relationships using generic gears:

• Rotational/Rotational• Rotational/Linear• Linear/Rotational• Linear/Linear


PROCEDURE - Creating Generic Gear Connections

ScenarioCreate and explore different situations for generic gears.

gen_gears gearbox.asm

Task 1: Create a generic gear connection for simple gears.

1. Press CTRL + ALT and drageach of the three gears.• Notice the right gearconnection is not createdyet.

2. Click Applications >Mechanism.• Notice the existing gearconnection.

3. Click .• Select Generic as the type.

4. Select the pin joint for the lowercenter gear, as shown.• Type 12 for the Diameter.

5. Select the Gear 2 tab.• Select the pin joint for theupper right gear.

• Type 46 for the Diameter.• Click OK.

6. Press CTRL + ALT and drag anyof the three gears.• Click .

You can also click to drag connected components.


Task 2: Create Rotational and Linear relationships using generic gears.

1. Click .• Double-click GENERIC_GEARS.ASM.

2. Click Applications >Mechanism.

3. Click .• Select Generic as the type.

4. Select the pin joint on the leftrotational control knob.

5. Select the Gear 2 tab.• Select the pin joint on the leftindicator needle.

• Click .6. Select the Properties tab.

• Select User Defined as thegear ratio type.

• Type 1 for D1.• Type 2.5 for D2.• Click OK.

7. Press CTRL + ALT and drageither the knob or the needle.

8. Click.• Select Generic as the type.

9. Select the pin joint on the centerindicator needle.


10. Select the Gear 2 tab.• Select the slider joint on thecenter linear control knob.

• Click .11. Select the Properties tab.

• Click User Defined as thegear ratio type.

• Type 200 for the ratio.• Click OK.

12. Press CTRL + ALT and drageither the knob or the needle.

13. Click.• Select Generic as the type.

14. Select the slider joint on the rightlinear control knob.

15. Select the Gear 2 tab.• Select the slider joint on theright indicator.

16. Select the Properties tab.• Notice User Defined is therack ratio type.

• Type 1.2 as the ratio.• Click OK.

17. Press CTRL + ALT and drageither the knob or the indicator.



Creating Dynamic Gear ConnectionsCreate different types of common gear connections.

• Types– Spur– Bevel– Rack and Pinion– Worm

• Gear Properties– Pitch Diameter– Pressure Angle– Helix Angle– Bevel Angle– Screw Angle

• Mechanism Analysis– Kinematic or Dynamic

Spur Gears

Bevel Gears

Worm GearsRack and Pinion Gears

Creating Dynamic Gear ConnectionsYou can create gear connections in Mechanism mode that utilizemanufacturing tooth angles to determine their motion properties. Propertiessuch as pitch diameter, pressure angle, helix, bevel, and screw anglesare used to compute motion, as well as kinematic and dynamic analyses.Dynamic analyses can include reaction forces based on the tooth geometryat the location where the pitch diameters meet. The system can automaticallycalculate pitch circle diameters and bevel angles.

Examples of the four dynamic gear types include:

• Spur — Two meshing gears rotating on parallel axes.


• Bevel — A pinion gear driving a crown gear on perpendicular axes.• Rack and Pinion — A pinion gear meshing with a sliding rack gear.• Worm — A worm shaft rotating a pinion on perpendicular axes.

Dynamic gears also have several properties you can define:

• Pitch Diameter — Specify a pitch diameter for the first gear in the pair,and the corresponding pitch diameter is automatically calculated. Youcan also use the User Defined option to manually input both values orthe ratio manually.

• Pressure Angle — A gear tooth pressure angle for all gear types.• Helix Angle — A gear tooth Helix angle for Spur, Bevel, and Rack andPinion gears.

• Bevel Angle — Determined automatically for Bevel Gears based ongeometry.

• Screw Angle — Defines the screw angle for worm gears.• Icon Location — Defines a plane to display and calculate the gearconnection.

Once defined, you can simply press CTRL + ALT to drag gears inStandard Assembly mode or in Mechanism mode.You can also click to drag connected components with additionaloptions, such as creating snapshots.


PROCEDURE - Creating Dynamic Gear Connections

ScenarioCreate and explore different gear types.

dyn_gears spur_gears.asm

Task 1: Create a Spur gear connection.


2. Click .• Select Spur as the type.

3. Select the pin joint on the smallergear.• Type 100 for the Diameterand press ENTER.

4. Select the Gear 2 tab.• Select the pin joint on thelarger gear.

5. Select the Properties tab.• Type -20 for the helix angleand press ENTER.

• Click OK.6. Press CTRL + ALT and drag

either gear.• Click .

You can also click to drag connected components.

Task 2: Create a Bevel gear connection.

1. Click .• Double-click BEVEL_GEARS.ASM.

2. Click Applications > Mechanism.


3. Click.• Select Bevel as the type.

4. Select the pin joint on the largecrown gear.• Type 175 for the Diameterand press ENTER.

• Click .• Select DTM1 as the iconlocation.

5. Click .

6. Select the Gear 2 tab.• Select the pin joint on thesmaller pinion gear.

7. Select the Properties tab.• Type -36 for the helix angleand press ENTER.

• Click OK.8. Press CTRL + ALT and drag

either gear.• Click .

Task 3: Examine the Rack and Pinion and Worm gear connections.

1. Click .• Double-click RACK_PINION_GEARS.ASM.

2. Press CTRL + ALT and drageither gear.• Click .

3. Click .• Double-click WORM_GEARS.ASM.

4. Press CTRL + ALT and drageither gear.• Click .



Creating Belt ConnectionsCreate belts that connect pulleys to create and analyze motion.

• Connect pulleys for rotation– Planar belt path– Belt length– Belt flexibility

• Create belt model– From belt curve

Original Model

Belt Created Belt Modified

Creating Belt ConnectionsIn Mechanism mode, you create belts in a planar path that connect pulleysto transmit rotation. Belt length and flexibility can be controlled. Once a beltconnection is defined, you can create a part model containing the belt curve.From this curve you can create solid geometry to represent the belt.

Belts have several options:

• Belt Direction — Indicates on which side the belt travels around the pulley.• Pulley Diameter — By default is coincident to the selected pulley surface.You can also enter a value from the dashboard or on-screen leaders.

• Number of Wraps — Indicates the number of wraps the belt should takearound the pulley. The default is 1 wrap.

• Belt Length — Belts default to a natural length defined by the belt path.You can then specify a fixed length.

• Belt Plane — A selected plane that defines the centerline of the belt path.


• Flexibility — Indicates a set value for the E*A parameter. (Youngs Modulusmultiplied by cross-section area.)

• Body Definition — Indicates which body is defined as the moving pulleybody versus the stationary carrier body.

You can perform kinematic and dynamic analyses of belts andpulleys in Mechanism mode.


PROCEDURE - Creating Belt Connections

ScenarioCreate a belt and a solid belt part.

belts belt_pulley.asm

Task 1: Create a belt on an existing pulley mechanism.


2. Click from the mechanismtoolbar.

3. Press CTRL and selectcylindrical surfaces from thetwo main pulleys.

4. Press CTRL and select thecylindrical surface from the idlerpulley.

5. Right-click the belt handle on theidler pulley and select Flip BeltDirection.• Notice the belt now follows adifferent path.


6. Type 80 for the E*A value andpress ENTER.

7. Click .• Type 1250 for the belt lengthand press ENTER.

8. Click .9. Press CTRL+ALT and drag any

of the pulleys.

Task 2: Create a solid belt part and some solid geometry.

1. Select the belt, then right-clickand select Make Part.• Type BELT as the Name andclick OK.

• Click Browse.• Select TEMPLATE.PRT.• Click Open and OK.

2. Right-click and select DefaultConstraint.

3. Click .

4. Click Applications > Standard.5. Right-click BELT.PRT in the

model tree and select Activate.6. Click Insert > User Defined

Feature.• Select FLAT_BELT.GPH andclick Open. Click OK.

• Select the belt curve and click .• Click Window > Activate.


8. Select the belt, right-click, andselect Edit Definition.• Type 1200 as the length andpress ENTER.

• Click .• Click .



Using the Drag and Snapshot ToolsUse the drag and snapshot tools to move and save yourmechanism in various positions.

••• Snapshots

Weld Connections

Using the Drag and Snapshot Tools — TheoryOne method of verifying the connections you have made is to drag theassembly through its range of motion. To drag components through theirmotion and open the Drag dialog box, click and then click a part model.

The components move according to the connections that have been applied.The selected entity is always positioned as close as possible to the cursorlocation while the rest of the components stay connected to each other.

To quit dragging, you can either middle-click to return the components to theiroriginal position before dragging, or you can click to leave the components attheir current position.

The Drag Dialog BoxWithin the Drag dialog box, you can work with the following tools:• — Click and drag selected edges, points, axes, datum planes, or surfacesto initiate the dragging movement. This is the default dragging option.

• — Click and drag a selected body. When you drag a body, its positionin the graphics window changes but its orientation remains fixed. If theassembly requires that a body be reoriented in conjunction with a changein position, the body will not move at all since the model cannot reassemblein the new position. Should this happen, try using point dragging instead.

• Snapshots — Use the Snapshots tab to display and create a list ofsaved snapshots of the mechanism in varied positions. After you movethe components to the desired location, you can save snapshots of yourassembly in different positions and orientations.


• Constraints — Use the Constraints tab to apply or remove movementconstraints. After you apply a constraint, its name is added to theconstraints list. You can turn the constraints on and off by selecting orclearing the check box next to the constraint. Use the shortcut menu tocopy, cut, paste, or delete the constraint.

• Advanced Drag Options — Use the Advanced Drag Options tab to accessa set of drag options that enable you to more precisely control your dragoperations. Specific translation and rotation directions can be defined fora drag operation. These options are only available when in Mechanismmode.

Creating Snapshots

After you move connected components to a desired position, you can createsnapshots of that particular location in the graphics window. Snapshotsenable you to return the assembly components to a particular position. Youcan create multiple snapshots and quickly move the assembly to specificpositions by activating each snapshot. Snapshots can also be used indrawings.

Use snapshots to save your mechanism in positions you willfrequently return to. For example, positions used in drawings, thedesign position, and positions where there is a collision issue youare working on.

Use the following tools to create and manage snapshots:

• — Take a snapshot of the current mechanism position. Edit that name andpress ENTER to change the name.

• — View the selected snapshot.• — Add the position of selected components in one snapshot to theselected snapshot.

• — Update the selected snapshot with the current component positions.• — Make the selected snapshot available in Drawing mode as an explodedview.

• — Delete the selected snapshot.

Adding Constraints

Use the Constraints tab to constrain the motion of your mechanism. Afteryou apply a temporary constraint, its name is added to the constraints list.You can turn the constraints on and off by selecting or clearing the checkbox next to the constraint. Use the shortcut menu to copy, cut, paste, ordelete the constraint.


• — Select two points, two lines, or two planes. The entities remain alignedduring the dragging operation.

• — Select two planes. The planes remain mated during the draggingoperation.

• — Select two planes to orient at an angle to each other.• — Select a motion axis to specify motion axis position. You can definemultiple constraints for the same motion axis. However, only one can beenabled at any given time.

• — Select bodies to be locked together.• — Select a connection. The connection is disabled.• — Define the offset value for any mate or align constraints. Define a valuefor angle or distance, if you have chosen an orientation constraint.

To delete a selected constraint from the list, click .


PROCEDURE - Using the Drag and Snapshot Tools

ScenarioUse the drag and snapshot tool to manipulate and save the position of yourmechanism.

Drag drag.asm

Task 1: Create a snapshot of the current position.

1. Click Applications > Mechanism from the main menu.2. Click from the main toolbar.3. In the Drag dialog box, expand the Snapshots area, if necessary.4. Click .5. Edit the name Snapshot1 to Design_Position and press ENTER.

No matter where you drag components, you can now easily returnto this assembly position by double-clicking Design_Position.

Task 2: Move the mechanism using both Point Drag and Body Drag.

1. Click from the Drag dialog box.2. Select DRAG_CLIP.PRT and

drag the model. Notice how themodels react to the dragging ofthis body.

3. Click in the graphics area to stopthe movement.

4. In the Drag dialog box,double-click Design_Positionso the models return to theiroriginal positions.

5. Click from the Drag dialog box.6. Select DRAG_CLIP.PRT and drag the model.7. Click in the graphics area to stop the movement.8. Select and drag other components of the assembly. Notice how the

models react.9. In the Drag dialog box, double-click Design_Position.


Task 3: Use constraints to control the movement of components whiledragging.

1. Select the Constraints tab fromthe Drag dialog box.

2. Click and select the bottomsurface of DRAG_BASE.PRTand the top of DRAG_LIFT.PRTto create a Plane-Plane Mateconstraint.

3. Select DRAG_CLIP.PRT anddrag the model. Notice thatDRAG_BASE.PRT no longermoves upward but it does spin.

4. Click in the graphics area to stopthe movement.

5. Select the Snapshots tab anddouble-click Design_Position.

6. Select the Constraints tab from the Drag dialog box.

Notice that the Plane-Plane Mate constraint is no longer in theconstraint list. Constraints must be saved with a snapshot andthat was not done.

7. Click and select DRAG_LIFT.PRT.8. Press CTRL, select DRAG_BASE.PRT, and click OK.9. Click .10. Edit the name Snapshot1 to Up and press ENTER.


11. Click and select the motion axisshown.

12. Edit the Value field to 90 andpress ENTER.

13. Select the Snapshot tab.14. With Up selected, click to add

the change to the Up snapshot.15. Double-click each snapshot to

alternate between each position.

Task 4: Experiment with the various drag, snapshot, and constraint toolsfound in the Drag dialog box.

There is an unlimited number of drag, snapshots, and constraintscombinations that can be used to define mechanism positions.You should spend five minutes experimenting with the variousoptions, using them to create your own snapshots. Use this timeto get a better understanding for all the functionality in the Dragdialog box.

1. When finished, click Close from the Drag dialog box.



Module3Configuring Motion and Analysis

Module OverviewIn this module, you learn basic concepts of servo motors and how they applymotion to a mechanism. You learn how an analysis is used to run the motionapplied by motors in the mechanism. You learn how to create both geometryand motion axis type servo motors. You learn how to configure servo motorsand use functions to assign various magnitudes of motion. Finally, you graphthe magnitude of each motor and run an analysis to verify the magnitude ofmotion.

ObjectivesAfter completing this module, you will be able to:• Understand servo motors.• Understand analysis definitions.• Create geometry servo motors.• Create motion axis servo motors.• Create slot motors.• Graph the magnitude of servo motors.• Assign constant motion to a servo motor.• Assign ramp motion to a servo motor.• Assign cosine motion to a servo motor.• Assign SCCA motion to a servo motor.• Assign cycloidal motion to a servo motor.• Assign parabolic motion to a servo motor.• Assign polynomial motion to a servo motor.• Assign table-defined motion to a servo motor.


Understanding Servo MotorsUse servo motors to impose motion on your mechanism.

Rotation and Translation Motors

Driven Entity Types:

• Motion Axis• Geometry

Motion Types:

• Translational• Rotational• Slot

Motor Profile Specifications:

• Motion Axis Settings• Position• Velocity• Acceleration

Motion Applied by Servo Motors

Understanding Servo Motors — TheoryServo motors are used to apply translational or rotational motion to bodiesof a mechanism. They are the driver that moves your mechanism about theconnections you have defined. The motion is defined in terms of position,velocity, or acceleration.

Driven Entity TypesThere are two driven entity types that define a servo motor:• Motion Axis — The motion axis entity type references the motion axis of aconnection to define motor direction. You use this entity type to define therelative motion between two bodies in the direction of a motion axis. Thedirection can be translational or rotational. For example, in the rotational


direction of a Pin connection, if a slot connection is selected as the motionaxis, the motion will be along the trajectory of the slot.

• Geometry — The geometry entity type references points, edges, andplanes to define motion direction. You use this type when the motiondirection cannot be defined by a motion axis. There are five different typesof geometry motors.

Creating Servo Motors

The Servo Motor tool is only available in Mechanism mode and started usingone of the following methods:• Click Insert > Servo Motors from the main menu.• Click from the mechanism toolbar.• Right-click MOTORS from the Mechanism tree and select New.

If your license of Pro/ENGINEER includes the MDO option, you willhave to expand MOTORS and right-click SERVO to select New.

In the Type tab of the Servo Motor Definition dialog box, select a DirectionEntity to define the motor as a Motion Axis or Geometry type motor:• Motion Axis — This is the default direction entity type. It requires you toselect a motion axis to define the motor's direction of motion. The type ofmotion axis selected determines if the motor's motion will be translationalor rotational.– Flip — Changes the direction of the servo motor's motion.

• Geometry — This direction entity type requires the following:– Geometry Reference — Select a point or plane from the model that

the motor will be driving.– Reference Entity — Select a point or plane that the driven model will

move with respect to. If a plane is selected, this will also define thedirection of motion.

– Motion Direction — If a point was selected as the Reference Entity, anadditional reference must be selected to define the direction of motion.

– Flip — Changes the direction of the servo motor's motion.– Motion Type — The motion type defines the motion of the geometry

motor as being translational or rotational.

You use the Profile tab of the Servo Motor Definition dialog box to definespecification for the motor.


• Specifications — Define the type of movement the servo motor willproduce:– Click to edit settings for the selected motion axis. This includes Current

Position, Regen value, Minimum Limit, and Maximum Limit.– Position — Specify the servo motor motion in terms of the position of a

selected reference entity.– Velocity — Specify the servo motor motion in terms of its velocity.– Acceleration — Specify the servo motor motion in terms of its

acceleration.– Initial Position — Defines the starting position for your servo motor

and appears only if Velocity or Acceleration is selected. If you want tospecify another Initial Position, clear the Current check box and specifythe value at which the motion should start.

– Initial Velocity — Defines the velocity of the servo motor at the beginningof the analysis and appears only if Acceleration is selected.

– Magnitude — Defines the magnitude of the motor as a function of time.It can be a constant value, or it can be defined by one of the functionsyou select. The function is used to generate the magnitude of the motorbased on the time period the analysis is run. For example, a translationalPosition motor using the Ramp function (q=A+B*t) will move a body 40units, if A=0, B=10, and the analysis is run for 4 seconds.

– Graph — Enables you to generate and display a graph plotting thePosition, Velocity, and Acceleration generated by your motor overtime. This is a very useful tool for determining how a defined velocityor acceleration affects the position of a component in a mechanism,prior to actually running an analysis.


Understanding Analysis DefinitionsUse analyses to record and display the motion of yourmechanism over time.

Analysis Displayed at Start

Preferences:

• Analysis Type – Position orKinematic

• Graphical Display Settings• Locked Entities• Initial Configuration

Motors:

• Select Motors to Run• Start and End Times Per Motor

Analysis Displayed at End

Understanding Analysis Definitions — TheoryAfter motors have been added to your mechanism model, you must define ananalysis to see the motors run through their defined motion. You configure ananalysis that records and displays the motion generated by selected motorsover a specified time period.

Creating Analysis DefinitionsThe Analysis tool is only available in Mechanism. You start the Analysis toolby using one of the following methods:• Click Analysis > Mechanism Analysis from the main menu.

• Click from the mechanism toolbar.• Right-click ANALYSES from the Mechanism tree and select New.


Analysis TypeUsing the MDX option in Pro/ENGINEER, you can select two types ofanalyses:• Position — You should only use a position type analysis when analyzingposition motors and all geometry motors. The Position analysis jumpsbetween each frame so you cannot use it to track velocity or acceleration,only position measures at each frame.

• Kinematic — A kinematic type analysis enables you to use position servomotors as well as velocity, and acceleration servo motors. The kinematictype analysis records a smoother motion that can better display changes invelocity and acceleration.

It is important to know that a Kinematic analysis cannot be usedto run a geometry servo motor.In addition to Position and Kinematic, you will also see Dynamic,Static, and Force Balance analyses in the drop-down list. Theseare MDO type analyses and you cannot run them without an MDOlicense.

Graphical DisplayYou configure Graphical Display settings in the Preferences tab of theAnalysis Definition dialog box. This enables you to determine howPro/ENGINEER records motion over time. There are three types of timedomains:• Length and Rate — Specify the end time, frame rate, and minimum interval.• Length and Frame Count — Specify the end time and frame count values.• Rate and Frame Count — Specify the frame count, frame rate, andminimum interval.

Locked EntitiesYou can lock bodies and connections during your analysis run. Lockingbodies or connections fixes the position of one body or connection relativeto another during the defined analysis. Use the icons in the analysis dialogbox to:• — Lock bodies together during the motion analysis run.• — Lock the movement of a connection during the motion analysis run.• — Delete locked bodies and connections.


• — Enable or disable a connection during the motion analysis run.

Initial Configuration

By selecting your initial configuration, you are setting a starting point for yourposition or kinematic analysis. There are two options:• Current Screen• Snapshot

By default, each analysis starts with the mechanism displayed as thecurrent screen position, which is the current orientation of the bodies as yousee them on the screen. However, you can set the initial configuration toestablish the snapshot as the initial position. The snapshot captures theconfiguration of existing locked bodies and geometric constraints to defineposition constraints.

Configuring Motors of the Analysis

In the Motors tab, you can select and configure motors to be run in theanalysis. By default, each motor will run from start to the end of the analysis.

Alternatively, you can select and edit the Start and End values in the Fromand To cells to be numerical values. For example, in an analysis running10 seconds, you can edit the first motor to run from 0 to 5, and the secondmotor to from 6 to 10.

The run time defined in the analysis is relative. The motion is notdisplayed in real time. The actual time it takes to run the motion isdependent on the complexity of the models as well as computerspeed.


Creating Geometry Servo MotorsUse geometry servo motors to define motion that cannot bedefined with an existing motion axis.

Geometry Servo Motors:

• Plane-Plane Translation Motor• Plane-Plane Rotation Motor• Point-Plane Translation Motor• Plane-Point Translation Motor• Point-Point Translation Motor

Motor Profiles

Plane-Plane Translation Motor

Creating Geometry Servo Motors — TheoryYou use geometry servo motors to define motion on points or planes whenthe motion cannot be defined with a motion axis motor. This occurs whenthe connections defining your model do not contain axes that define motionin the direction you want to control.

Servo motors are displayed in the model as a swirling cone shape shownin this figure.

Creating Geometry Servo MotorsTo create a geometry servo motor, in the Type tab of the Servo MotorDefinition dialog box, select Geometry as the driven entity type. Based onthe Geometry Reference, Reference Entity, and Motion Direction referencesselected, you can create the following five types of geometry servo motors:• Plane-Plane Translation Motor — A plane-plane translation motor movesa plane in one body with respect to a plane on another body, keeping oneplane parallel to the other. The shortest distance between the two planesmeasures the position value of the motor. The zero position occurs whenthe driven and reference planes are coincident.In addition to the defined motion, the driven plane is free to rotate ortranslate in the reference plane, making it less restrictive than a motoron a slider or a cylinder connection. To explicitly tie down the remainingdegrees of freedom, additional constraints such as a connection or anotherservo motor can be applied.


In the example shown, the mechanism is connected using twopin connections. You can control the motion with a rotationalmotor referencing the motion axis of these motors. Instead, atranslational geometry motor was added to control the distanceof motion between the top of the clip and a horizontal planethrough the upper pin.

• Plane-Plane Rotation Motor — A plane-plane rotation motor moves aplane in one body at an angle to a plane in another body. During a motionrun, the driven plane rotates about a reference direction, with the zeroposition defined when the driven and reference planes are coincident.Because the axis of rotation on the driven body remains unspecified, aplane-plane rotation motor is less restrictive than a motor on a pin orcylinder connection.

You can use plane-plane rotation motors to define rotationsaround a ball connection. You can also define a rotation betweenthe last body of an open-loop mechanism and the ground.

• Point-Plane Translation Motor — A point-plane translation motor movesa point in one body along the normal of a plane in another body. Theshortest distance from the point to the plane measures the position valueof the motor.You cannot define the orientation of one body with respect to the otherusing only a point-plane motor. Also note that the driven point is free tomove parallel to the reference plane, and may thus move in a directionunspecified by the motor. Lock these degrees of freedom using anothermotor or connection. By defining X, Y, and Z components of motion on apoint with respect to a plane, you can make a point follow a 3-D curve.

• Plane-Point Translation Motor — A plane-point translation motor is thesame as a point-plane translation motor, except that you define the directionin which a plane moves relative to a point. During a motion run, the drivenplane moves in the specified motion direction while staying perpendicularto the point. The shortest distance from the point to the plane measures theposition value of the motor. At a zero position, the point lies on the plane.You cannot define the orientation of one body with respect to the otherusing only a plane-point motor. Also, note that the driven plane is freeto move perpendicularly to the specified direction. Lock these degreesof freedom using another motor or connection. By defining X, Y, and Zcomponents of motion on a point with respect to a plane, you can makea point follow a 3-D curve.

• Point-Point Translation Motor — A point-point translation motor moves apoint on one body in a direction specified by another body. The shortestdistance measures the position of the driven point to a plane that containsthe reference point and is perpendicular to the motion direction. The zero


position of a point-point motor occurs when both the reference and drivenpoint lie in a plane whose normal is the motion direction.

Geometry Motor Profiles

The Profile tab in the Servo Motor Definition box is where the motor'sspecifications are defined.• Specification — The motor is controlled by Position, Velocity, orAcceleration.

• Initial Position — You can set the initial position of the motor (but not forPosition motors).

• Magnitude — You can define the magnitude of motion using one of ninedifferent types, including Constant and Ramp.

• Graph — You can graph the motor's Position, Velocity, and Acceleration.


PROCEDURE - Creating Geometry Servo Motors

ScenarioCreate a geometry servo motor to move the mechanism per the design intent.

Geom_Motor geom_motor.asm

Task 1: Create a planar-planar translational motion geometry motor.

1. Click Applications > Mechanism from the main menu.2. Click from the Mechanism toolbar.

3. Click Geometry in the ServoMotor Definition dialog box.• Select the topplanar surface ofGEOM_MOTOR_CLIP.PRT.

• Select datum plane CENTERas the Reference Entity.

• If necessary, click Flip so thatthe direction arrow points up.

• If necessary, click Translationto set the motion type.

You have just defined a Plane-Plane Translation servo motor. Hadyou selected a Point as reference, rather than a plane, an additionalDirection reference would have been required. In the case of aPlane-Plane motor, the Reference Entity defines both the referenceand direction.


4. Select the Profile tab in the Servo Motor Definition dialog box.5. In the Profile tab, configure the magnitude of the motor's motion:

• In the Specification drop-down list, ensure that Position is selected.• In the Magnitude drop-down list, select Ramp.• Edit the value of B from 0 to 6 and press ENTER.

Cursor over the Ramp. Notice that the pop-up message reads q= A + B*t, where:• q = Magnitude of motion.• A = Constant Coefficient, entered as 0 in the dialog box.• B = Slope, displayed as 6 in the dialog box.• t = The time that the motor will be run.This means that at 0 seconds, the translational motion of themotor will be 0 mm (q = 0 + 0*0). If the motor is run for 10seconds, the translational motion will be 60 mm (q = 0 + 6*10).


Task 2: Create an analysis to run the new motor for 10 seconds.

1. In the Mechanism tree, right-clickAnalysis and select New.

2. Notice in the Analysis Definitiondialog box that the Start Timeof the analysis is 0 and theEnd Time is 10 (a 10 secondanalysis).

3. Select the Motors tab. Observethat the motor you created hasbeen placed in the list.

4. Click Run to run the motor.5. Click OK to close the dialog box.

The motor has moved the clip 60 mm, a translational distance fromdatum plane CENTER. Notice that the 10 seconds defined in theanalysis is relative and not shown in real time.


6. Click to return the model to itsinitial position.

The model returned to its original position because each of themodel's connections as a motion axis were defined with a Regenvalue and the option Enable regeneration value turned on.The motion axis returns to those values each time the model isregenerated.



Creating Motion Axis Servo MotorsUse motion axis servo motors to define motion in the directionof a connection's motion axis.

Motion Axis Servo Motors

• About a Rotational Axis• Along a Translational Axis• Along a Slot Connection

Motor Profiles

• Specification• Initial Position• Magnitude• Graph Translational and Rotational

Creating Motion Axis Servo Motors — TheoryYou use motion axis servo motors to define a motor with motion in theremaining degree of freedom contained in a connection. For example,selecting the motion axis of a Pin connection will create a rotational servomotor. Selecting the motion axis of a Slider connection will create atranslational servo motor. Selecting a Slot connection will create a servomotor that drives motion along the direction of the slot.

Servo motors are displayed in the model as swirling cone shapes shownin this figure.

Creating Motion Axis Servo MotorsTo create a motion axis servo motor, in the Type tab of the Servo MotorDefinition dialog box, select Motion Axis as the driven entity type.

You can click the Flip button to change the direction of the motor.

Motion Axis Motor ProfilesThe Profile tab in the Servo Motor Definition box is where the motor'sspecifications are defined:• Specification — The motor is controlled by Position, Velocity, orAcceleration.


• Initial Position — You can set the initial position of the motor (but notfor Position motors).

• Magnitude— You can define the magnitude of motion using one of ninedifferent types such as Constant and Ramp.

• Graph— You can graph the motor's position, velocity, and acceleration.


PROCEDURE - Creating Motion Axis Servo Motors

ScenarioCreate a motion axis servo motor to move the mechanism.

Axis_Motor axis_motor.asm

Task 1: Create a translational motion axis motor.

1. Click Applications >Mechanism from the mainmenu.

2. Click from the Mechanismtoolbar.

3. Select the motion axis of theSlider connection, as shown.


• In the Specification drop-down list, select Velocity.• Clear the Current check box.• In the Magnitude drop-down list, ensure that Constant is selected.• Edit the value of A from 0 to 1.5 and press ENTER.• Click OK to close the dialog box.

You have configured the motor as follows:• Velocity — Magnitude of motion will be defined asmm/second.

• Initial Position— You have defined the initial position of themotor to be at 0 mm.

• A— Velocity will be a constant 1.5 mm/second.This means at 0 seconds, the translational position of the motorwill be at 0 mm. If the motor is run for 10 seconds, the motor willmove 15 mm in the direction of the axis.


Task 2: Create a rotational motion axis motor.


2. Select the motion axis of the Pinconnection, as shown.


• In the Specification drop-down list, select Velocity.• Ensure that the units displayed to the right of Velocity are deg/sec.This verifies that a rotational axis was selected.

• Clear the Current check box.• In the Magnitude drop-down list, ensure that Constant is selected.• Edit the value of A from 0 to 9 and press ENTER.• Click OK to close the dialog box.

You have configured the motor as follows:• Velocity — Magnitude of motion will be defined asdegrees/second.

• Initial Angle — You have defined the initial position of themotor to be at 0 degrees.

• A— Velocity will be a constant 9 degrees/second.This means at 0 seconds, the translational position of the motorwill be at 0 degrees. If the motor is run for 10 seconds, the motorwill move 90 degrees about the axis.


Task 3: Create an analysis to run each motor for 10 seconds.

1. In the Mechanism tree, right-clickAnalyses and select New.

2. In the Type drop-down list, selectKinematic.


4. Select the Motors tab. Noticethat both motors have beenadded to the list.

5. Edit the End value ofServoMotor1 to 10.

6. Edit the Start value ofServoMotor2 to 5.

7. Click Run to run the analysis.8. Click OK to close the dialog box.

The 20 seconds defined in the analysis is relative and not shownin real time.

9. Click to return the model to its initial position.



Creating Slot MotorsA slot motor can be used to provide greater control of motion ofa slot connection.

A slot motor:

• Acts along the tangent of a slotconnection.

Slot Motor

Creating Slot Motors

A slot motor can be used to provide greater control of motion of a slotconnection. It enables you to place a motor that acts upon the tangent of aslot connection. You can use any of the available motor profiles, and the slotmotor can be used in both kinematic and dynamic analyses.

In the figure, a slot motor is used to “push” a model around a defined curvepath.


PROCEDURE - Creating Slot Motors

ScenarioCreate a slot motor.

Slot simple_slot_follower.asm

Task 1: Create a slot motor.

1. Click Applications > Mechanism from the main menu.2. Click . The Servo Motor Definition dialog box appears.3. Select the Type tab if necessary. In the Type tab select Motion Axis.

4. Click and select the slot asshown.


• In the Specification drop-down list, select Velocity.• Clear the Current check box.• In the Magnitude drop-down list, ensure that Constant is selected.• Edit the value of A from 0 to 10.0 and press ENTER.• Click OK to close the dialog box.

You have configured the motor as follows:• Velocity — Magnitude of motion will be defined asmm/second.

• Initial Position— You have defined the initial position of themotor to be at 0 mm.

• A— Velocity will be a constant 10.0 mm/second.This means that at 0 seconds, the translational position of themotor will be at 0 mm. If the motor is run for 10 seconds, themotor will move 100 mm along the slot.


Task 2: Create an analysis to run the motor for 60 seconds.

1. In the Mechanism tree, right-clickAnalyses and select New. TheAnalysis Definition dialog boxappears.

2. In the Type drop-down list, selectKinematic.


4. Select the Motors tab. Noticethat the motor has been addedto the list.

5. Edit the End value ofServoMotor1 to 60.

6. Click Run to run the motor.7. Click OK to close the dialog box.

The 70 seconds defined in the analysis is relative and not shownin real time.

8. Click to regenerate the model.



Graphing the Magnitude of Servo MotorsEvaluate the magnitude of a motor by graphing its position,velocity, and acceleration.

Graph Magnitude of Motion:

• Position• Velocity• Acceleration

Graph Tools:

• Export• Print• Zoom and Refit• Format

Graph of Position, Velocity,and Acceleration

Graphing the Magnitude of Servo Motors — TheoryGraphing position, velocity, and acceleration of a motor enables you toevaluate the motor prior to running an analysis. This enables you to be surethe specifications you have assigned to the motor produce the desired results.

Creating a Servo Motor GraphTo create a graph of a servo motor, select the Profile tab in the Servo MotorDefinition dialog box of a selected motor. In the Graph area at the bottom ofthe dialog box, select any combination of Position, Velocity, and Accelerationthen click . This will generate a graph of the selected magnitudes with respectto time. By default, the time period graphed is 10 seconds.

The graph will open in a special Graphtool window.

The Graphtool WindowThe Graphtool window provides a set of tools that help you view, share, andconfigure the graph's display.


• — Prints the graph.• — Toggles on/off the grid display in the graph.• — Repaints the graph.• — Zooms in on an area of the graph.• — Refits the graph into the window.• — Opens the Graph Window Options dialog box to format the graph.• File — In the File menu, you can export the graph as an Excel or text file.


Assigning Constant MotionAssign constant motion to a servo motor as a magnitude ofposition, velocity, or acceleration.

Constant Motion:

• Function: q = A– q = Position, Velocity, or

Acceleration– A = Constant Coefficient

• Graph Position, Velocity, andAcceleration

Graph of Constant Acceleration,with Resulting Position and Velocity

Assigning Constant Motion — Theory

You use a constant function to assign motion to a servo motor. You canspecify the motion as a magnitude of position, velocity, or acceleration.

Graphing the Magnitude of Motion

The tool at the bottom of the Servo Motor Definition dialog box, enables you tograph the position, velocity, and acceleration of your constant motion motor.

Graphing position, velocity, and acceleration of any motor enablesyou to evaluate the motor prior to running an analysis. The graphwill help you determine if the specifications you have assigned tothe motor will produce the desired results.


PROCEDURE - Assigning Constant Motion

ScenarioAssign constant motion to the servo motor.

Constant constant.asm

Task 1: Assign and graph a translational position, constant motion.

1. Click Applications > Mechanism from the main menu.2. Click from the main toolbar and select the FRONT view.

3. In the Mechanism tree, expandMOTORS (and SERVO ifnecessary).

4. Right-click ServoMotor1 (POS- CONSTANT) and select EditDefinition.

5. Select the Profile tab in theServo Motor Definition dialogbox.

This motor provides upwardtranslational motion of thebase, along the motion axisshown.

6. Configure the motor as a constant motion motor, with the motiondefined as a magnitude of position:• Notice that the Specification is set to Position and Magnitude isset to Constant motion. Both are default settings for servo motors.

• Edit the constant A from 0 to 15 and press ENTER.• In the Graph area, select the check boxes for Velocity andAcceleration.

• Click to create a graph of the motor's position, velocity, andacceleration over time.

The graph indicates the following:• The position of the motor starts and ends at 15 mm, theconstant value entered.

• A constant magnitude produces zero velocity and acceleration.By default, the graph uses a range of 10 seconds for time.

7. In the Graphtool dialog box, click File > Exit.


Task 2: Assign and graph a translational velocity, constant motion.

1. Configure the motor as a constant motion motor, with the motiondefined as a magnitude of velocity:• In the Specification drop-down list, select Velocity. Notice thatunits are now shown as mm/sec.

• Edit the constant A from 15 to 1.5 and press ENTER.• In the Graph area, select the check boxes for Position andAcceleration.


The graph indicates the following:• The velocity of the motor is a constant 1.5 mm/sec.• The position magnitude increases from 0 to 15 mm, over 10seconds.

• A constant magnitude of velocity produces zero acceleration.


Task 3: Assign and graph a translational acceleration, constant motion.

1. Configure the motor as a constant motion motor, with the motiondefined as a magnitude of acceleration:• In the Specification drop-down list, select Acceleration. Noticethat units are now shown as mm/sec².

• Edit the constant A from 1.5 to .5 and press ENTER.• In the Graph area, select the check boxes for Position andVelocity.


The graph shows you the following:• The acceleration of the motor is a constant .5 mm/sec².• The position magnitude accelerates from 0 to 25 mm, over 10seconds.

• The velocity magnitude increases from 0 to 5 mm/sec, over 10seconds.

2. In the Graphtool dialog box, click File > Exit.3. Click OK to close the Servo Motor Definition dialog box.


4. In the Mechanism tree, expand ANALYSES, right-clickAnalysisDefinition1 (KINEMATICS), and select Run.



Assigning Ramp MotionAssign ramp motion to a servo motor as a magnitude of Position,Velocity, or Acceleration.

Ramp Motion:

• Function: q = A + B*t– q = Position, Velocity, or

Acceleration– A = Constant Coefficient– B = Slope– t = time


Graph of Ramp Acceleration, withResulting Position and Velocity

Assigning Ramp Motion — Theory

You use a ramp function to assign motion to a servo motor. You can specifythe motion as a magnitude of position, velocity, or acceleration.


PROCEDURE - Assigning Ramp Motion

ScenarioAssign ramp motion to the servo motor.

Ramp ramp.asm

Task 1: Assign and graph a rotational position, ramp motion.



4. Right-click ServoMotor2 (POS- RAMP) and select EditDefinition.


This motor providesrotational motion of thearm, about the axis shown.

6. Configure the motor as a ramp motion motor, with the motion definedas a magnitude of position:• Notice that the Specification is set to Position, the default settingfor servo motors.

• Select Ramp (q=A+B*t) from the Magnitude drop-down list.• If necessary, edit constant coefficient A to be 0 and press ENTER.• Edit the slope B to 9 and press ENTER.• In the Graph area, select the check boxes for Velocity andAcceleration.



The graph indicates the following:• The position of the motor ramps from 0 to 90 deg, over 10seconds.

• Velocity is at a constant 9 deg/sec.• There is zero acceleration.By default, the graph uses a range of 10 seconds for time.


Task 2: Assign and graph a rotational velocity, ramp motion.

1. Configure the motor as a ramp motion motor, with the motion definedas a magnitude of velocity:• In the Specification drop-down list, select Velocity. Notice thatunits are now shown as deg/sec.

• Edit the slope B to 1.8 and press ENTER.• In the Graph area, select the check boxes for Position andAcceleration.


The graph indicates the following:• The velocity of the motor ramps from 0 to 18 deg/sec.• The position magnitude increases from 0 to 90 deg, over 10seconds.

• Acceleration is a constant 1.8 deg/sec².


Task 3: Assign and graph a rotational acceleration, ramp motion.

1. Configure the motor as a ramp motion motor, with the motion definedas a magnitude of acceleration:• In the Specification drop-down list, select Acceleration. Noticethat units are now shown as deg/sec².

• Edit the slope B to .54 and press ENTER.• In the Graph area, select the check boxes for Position andVelocity.



The graph indicates the following:• The acceleration of the motor ramps up from 0 to 5.4 deg/sec².• The position magnitude accelerates from 0 to 90 deg, over 10seconds.

• The velocity magnitude accelerates from 0 to 27 deg/sec,over 10 seconds.





Assigning Cosine MotionAssign cosine motion to a servo motor as a magnitude ofposition, velocity, or acceleration.

Cosine Motion:

• Function:

q = A*cos (360 * t / T + B) + C

– q = Position, Velocity, orAcceleration

– A = Amplitude– B = Phase– C = Offset– T = Period


Graph of Cosine Acceleration, withResulting Position and Velocity

Assigning Cosine Motion — Theory

You use a cosine function to assign motion to a servo motor. You can specifythe motion as a magnitude of position, velocity, or acceleration.


PROCEDURE - Assigning Cosine Motion

ScenarioAssign cosine motion to the servo motor.

Cosine cosine.asm

Task 1: Assign and graph a translational position, cosine motion.



4. Right-click ServoMotor1 (POS- COSINE) and select EditDefinition.



6. Configure the motor as a cosine motion motor, with the motion definedas a magnitude of position:• Notice that the Specification is set to Position, the default settingfor servo motors.

• Select Cosine (q = A*cos (360 * t / T + B) + C) from the Magnitudedrop-down list.

• Edit the amplitude A to 10 and press ENTER.• Edit the phase B to 0 and press ENTER, if necessary.• Edit the offset C to 10 and press ENTER.• Edit the period T to 10 and press ENTER.• In the Graph area, select the check boxes for Velocity andAcceleration.



The graph indicates that the position of the motor starts at 20mm, then transitions as a cosine down to 0 and back to 20 mm.


Task 2: Assign and graph a translational velocity, cosine motion.

1. Configure the motor as a cosine motion motor, with the motion definedas a magnitude of velocity:• In the Specification drop-down list, select Velocity. Notice thatunits are now shown as mm/sec.

• Edit the amplitude A to 4 and press ENTER.• Edit the phase B to 2 and press ENTER.• Edit the offset C to 0 and press ENTER.• In the Graph area, select the check boxes for Position andAcceleration.


The graph indicates that the velocity of the motor starts at 4mm/sec, transitions as a cosine down to -4 mm/sec and thenback to 4 mm/sec, in the shape of a cosine.


Task 3: Assign and graph a translational acceleration, cosine motion.

1. Configure the motor as a cosine motion motor, with the motion definedas a magnitude of acceleration:• In the Specification drop-down list, select Acceleration. Noticethat units are now shown as mm/sec².

• Edit the amplitude A to 5 and press ENTER.• Edit the phase B to 0 and press ENTER.• In the Graph area, select the check boxes for Position andVelocity.



The graph indicates that the acceleration of the motor starts at 5mm/sec², transitions as a cosine down to -5 mm/sec² and thenback to 5 mm/sec², in the shape of a cosine.





Assigning SCCA MotionAssign SCCA motion to simulate a cam profile output.

SCCA Motion:

• Function:

Sine Constant CosineAcceleration

– q = Acceleration– A = Increasing Acceleration– B = Constant Acceleration– H = Amplitude– T = Period

• Graph Acceleration

Graph of SCCA Acceleration

Assigning SCCA Motion — Theory

You use a SCCA function to simulate a cam profile output. You can specifythe motion only as a magnitude of acceleration.


PROCEDURE - Assigning SCCA Motion

ScenarioAssign SCCA motion to the servo motor.

SCCA scca.asm

Task 1: Assign and graph a translational acceleration, SCCA motion.



4. Right-click ServoMotor2 (POS- SCCA) and select EditDefinition.



6. Configure the motor as a SCCA motion motor, with the motion definedas a magnitude of acceleration:• Select SCCA from the Magnitude drop-down list.• Notice that the Specification is automatically set to Accelerationand cannot be changed.

• Edit the amplitude A to be .25 and press ENTER, if necessary.• Edit the phase B to be .5 and press ENTER, if necessary.• Edit the offset H to be 5 and press ENTER.• Edit the period T to be 1 and press ENTER, if necessary.


7. In the Graph area of the Profiletab, select the check boxes forPosition and Velocity.

8. Click to create a graph of themotor's position, velocity, andacceleration over time.

The graph indicates theacceleration as a CAMprofile.

9. In the Graphtool dialog box, clickFile > Exit.

10. Click OK to close the ServoMotor Definition dialog box.



Assigning Cycloidal MotionAssign cycloidal motion to a servo motor as a magnitude ofposition, velocity, or acceleration.

Cycloidal Motion:

• Function:

q = L*t/T – L*sin (2*Pi*t/T)/2*Pi

– q = Position, Velocity, orAcceleration

– L = Total Rise– T = Period


• Enables you to simulate a camprofile output

Graph of Cycloidal Acceleration

Assigning Cycloidal Motion — Theory

You use a cycloidal function to assign motion to a servo motor. You canspecify the motion as a magnitude of position, velocity, or acceleration.


PROCEDURE - Assigning Cycloidal MotionScenarioAssign cycloidal motion to the servo motor.

Cycloidal cycloidal.asm

Task 1: Assign and graph a translational position, cycloidal motion.



4. Right-click ServoMotor1 (POS- CYCLOIDAL) and select EditDefinition.



6. Configure the motor as a cycloidal motion motor, with the motiondefined as a magnitude of position:• Notice that the Specification is set to Position, the default settingfor servo motors.

• Select Cycloidal (q = L*t/T – L*sin (2*Pi*t/T)/2*Pi) from theMagnitude drop-down list.

• Edit the total rise L to 5 and press ENTER.• Edit the period T to 2.5 and press ENTER.• In the Graph area, select the check boxes for Velocity andAcceleration.

• Click to create a graph of the motor's cyclical position, velocity,and acceleration over time.

The graph indicates that the magnitude of the position increasescyclically from 0 to 20 mm. The velocity and acceleration movecyclically but begin and end at zero.



Task 2: Assign and graph a translational velocity, cycloidal motion.

1. Configure the motor as a cycloidal motion motor, with the motiondefined as a magnitude of velocity:• In the Specification drop-down list, select Velocity. Notice thatunits are now shown as mm/sec.

• Edit the total rise L to .4 and press ENTER.• Edit the period T to 2 and press ENTER.• Click to create a graph of the motor's cyclical velocity over time.

The graph indicates that the velocity of the motor starts at 0 andincreases cyclically until it reaches 2 mm/sec.


Task 3: Assign and graph a translational acceleration, cycloidal motion.

1. Configure the motor as a cycloidal motion motor, with the motiondefined as a magnitude of acceleration:• In the Specification drop-down list, select Acceleration. Noticethat units are now shown as mm/sec².

• Edit the total rise L to .5 and press ENTER.• Edit the period T to 6 and press ENTER.• Click to create a graph of the motor's cyclical acceleration overtime.

The graph indicates that the acceleration of the motor increasescyclically from 0 to approximately .9 mm/sec².





Assigning Parabolic MotionAssign parabolic motion to a servo motor as a magnitude ofposition, velocity, or acceleration.

Parabolic Motion:

• Function: q = A*t +1/2 B*t²– q = Position, Velocity, or

Acceleration– A = Linear Coefficient– B = Quadratic Coefficient– t = time


Graph of Parabolic Acceleration,with Resulting Position and Velocity

Assigning Parabolic Motion — Theory

You use a parabolic function to assign motion to a servo motor. You canspecify the motion as a magnitude of position, velocity, or acceleration.


PROCEDURE - Assigning Parabolic Motion

ScenarioAssign parabolic motion to the servo motor.

Parabolic parabolic.asm

Task 1: Assign and graph a rotational position, parabolic motion.



4. Right-click ServoMotor2 (POS- PARABOLIC) and select EditDefinition.



6. Configure the motor as a parabolic motion motor, with the motiondefined as a magnitude of position:• Notice that the Specification is set to Position, the default settingfor servo motors.

• Select Parabolic (q = A*t +1/2 B*t²) from the Magnitude drop-downlist.

• Edit the linear coefficient A to 1 and press ENTER.• Edit the quadratic coefficient B to 2 and press ENTER.• In the Graph area, select the check boxes for Velocity andAcceleration.



The graph indicates the following:• The position increases parabolically from 0 to 110 deg.• Velocity increase uniformly to 21 deg/sec.• There is constant acceleration of 2 deg/sec².


Task 2: Assign and graph a rotational velocity, parabolic motion.

1. Configure the motor as a parabolic motion motor, with the motiondefined as a magnitude of velocity:• In the Specification drop-down list, select Velocity. Notice thatunits are now shown as deg/sec.

• Edit the quadratic coefficient B to .2 and press ENTER.• In the Graph area, select the check boxes for Position andAcceleration.


The graph indicates the following:• The velocity of the motor ramps from 0 to 20 deg/sec.• The position increases from 0 to approximately 85 deg.• Acceleration increases uniformly from 0 to 3 deg/sec².


Task 3: Assign and graph a rotational acceleration, parabolic motion.

1. Configure the motor as a parabolic motion motor, with the motiondefined as a magnitude of acceleration:• In the Specification drop-down list, select Acceleration. Noticethat units are now shown as deg/sec².

• Edit the linear coefficient A to .1 and press ENTER.• In the Graph area, select the check boxes for Position andVelocity.



The graph indicates the following:• The acceleration increases parabolically 0 to 11 deg/sec².• The position magnitude moves from 0 to 100 deg.• The velocity magnitude accelerates from 0 to 38 deg/sec.





Assigning Polynomial MotionAssign polynomial motion to a servo motor as a magnitude ofposition, velocity, or acceleration.

Polynomial Motion:

• Function: q = A + B*t + C*t² + D*t³– q = Position, Velocity, or

Acceleration– A = Constant Coefficient– B = Linear Coefficient– C = Quadratic Coefficient– D = Cubic Coefficient– t = time


Graph of Polynomial Acceleration,with Resulting Position and Velocity

Assigning Polynomial Motion — Theory

You use a polynomial function to assign motion to a servo motor. You canspecify the motion as a magnitude of position, velocity, or acceleration.


PROCEDURE - Assigning Polynomial Motion

ScenarioAssign polynomial motion to the servo motor.

Polynomial polynomial.asm

Task 1: Assign and graph a translational position, polynomial motion.



4. Right-click ServoMotor1 (POS -POLYNOMIAL) and select EditDefinition.



6. Configure the motor as a polynomial motion motor, with the motiondefined as a magnitude of position:• Notice that the Specification is set to Position, the default settingfor servo motors.

• Select Polynomial (q = A + B*t + C*t² + D*t³) from the Magnitudedrop-down list.

• Edit the constant coefficient A to 2 and press ENTER.• Edit the linear coefficient B to 1 and press ENTER.• Edit the quadratic coefficient C to .01 and press ENTER.• Edit the cubic coefficient D to .005 and press ENTER.• In the Graph area, select the check boxes for Velocity andAcceleration.


7. Click to create a graph of themotor's position, velocity, andacceleration over time.

The graph indicates thefollowing:• The position increasesfrom 2 to 18 mm.

• Velocity increases from 1to 2.7 mm/sec.

• Acceleration increasesfrom .02 to .32 mm/sec².


Like most motion types, polynomial motion can also be definedas a magnitude of velocity and acceleration.

10. In the Mechanism tree, expand ANALYSES, right-clickAnalysisDefinition1 (KINEMATICS) and select Run.



Assigning Table MotionAssign table motion to a servo motor as a magnitude of position,velocity, or acceleration.

Table Motion:

• Create custom motor profiles.• Read data from text file.

Graph of Table Acceleration, withResulting Position and Velocity

Assigning Table Motion — Theory

You use a table function to assign custom motion profiles to a servo motor.You can create motion profiles that cannot be defined by a function. You canalso specify the motion as a magnitude of position, velocity, or acceleration.

The table motion is defined by a two column table, the first column being timeand the second, magnitude (no header). You can read the table from a textfile or create it in the Servo Motor Definition dialog box.


PROCEDURE - Assigning Table Motion

ScenarioAssign table-defined motion to the servo motor.

Table table.asm

Task 1: Assign and graph a translational position, table-defined motion.



4. Right-click ServoMotor1 (POS- TABLE) and select EditDefinition.



6. Configure the motor as a table-defined motion motor, with the motiondefined as a magnitude of position:• Notice that the Specification is set to Position, the default settingfor servo motors.

• Select Table from the Magnitude drop-down list.• Click and double-click trans_table.tab.• Click to create a graph of the motor's position as driven by the table.

7. In the Graphtool dialog box, click File > Exit.8. Click OK to close the dialog box.


Task 2: Assign and graph a rotational position, table motion.


2. Right-click ServoMotor2 (POS- TABLE) and select EditDefinition.



4. Configure the motor as atable-defined motion motor,with the motion defined as amagnitude of position:• Select Table from theMagnitude drop-down list.

• Click and double-clickrot_table.tab.

• Click to create a graph of themotor's position as driven bythe table.

5. In the Graphtool dialog box, clickFile > Exit.

6. Click OK to close the dialog box.7. In the Mechanism tree,

expand ANALYSES,right-click AnalysisDefinition1(KINEMATICS) and select Run.



Module4Evaluating Analysis Results

Module OverviewIn this module, you learn how to evaluate analysis results. You generateanalysis results and then create measures based on those results. You learnhow to evaluate playback results and use the animate dialog box. You alsolearn how to check for collisions between moving components. Finally, youlearn how to create motion envelopes.

ObjectivesAfter completing this module, you will be able to:• Generate measure results for analyses.• Create analysis measure definitions.• Evaluate playback results.• Use the Animate dialog box.• Check for collisions.• Create motion envelopes.


Generating Measure Results for AnalysisYou graph analysis measurements to help you understand andevaluate your mechanism.

Measure Results Dialog Box:

• Graph Type• Measures• Result Set• Graph Measure• Load Result Set• Export Results

Graphed Maximum Magnitude

Generating Measure Results for Analysis — TheoryYou graph and export the results of analysis measures to verify and evaluatethe movement of your mechanism.

The Measure Results Dialog BoxYou open the Measure Results dialog box by clicking Analysis > Measures orby clicking from the Mechanism toolbar.

Measures and ResultsThe Measure Results dialog box provides three functions: to createmeasures, to graph the results of selected measures, and to export the resultof a measure to models as a parameter.• Graph Type — Displays the results of a measure graphed as Measurevs. Time or Measure vs. Measure.– Measure for X axis— For a Measure vs. Measure type graph, you can

select the measure that will be placed on the X-axis.

• Measures — In the Measures area of the dialog box, you can select,create, edit, copy, and delete measures. You can also toggle Graph


measures separately to either graph measures as multiple plots in onegraph or as separate graphs.

You can display up to 9 separate graphs.

• Result Set— In the Result Set area of the dialog box, you can select oneor more result sets from previously run analyses. The graph displays a plotof a different colored curve for each result set.

EM: apparently we are using numerals for all numbers now - helpsreduce # of words to be translated

Along the top of the dialog box, you will find 3 operations that can beperformed on selected measures:• — Graphs the selected measure based on the selected result set. Afterthe measure results are complete, the Graphtool window opens. Use theitems on this window to change the display of your graph, print it, or save itin tabular form.

• — Enables you to use results from a saved analysis run. Select a savedresults file and it will appear in the Result Set area of the dialog box.

• — Click here to create a Pro/ENGINEER parameter from theselected measure and analysis. The parameter has the nameMDO_<measure_name>. When you first create a parameter from ameasure, it is given the value of the measure at the last time step of theanalysis. The value of the Pro/ENGINEER parameter remains constantuntil you update it on the Measure Results dialog box or until you return toPro/ENGINEER and change the value. If you create a parameter, and thenrerun an analysis, select the measure and analysis and click to update thevalue of the parameter with the value from the new analysis.


Creating Analysis Measure DefinitionsCreate analysis measures to evaluate and verify yourmechanism.

Measure Definition Dialog Box:

• Type• References• Evaluation Method

Measure Definition

Creating Analysis Measure Definitions — TheoryAnalysis measures are measurements that are evaluated when a mechanismanalysis is run. You can create measures for specific model entities or for theentire mechanism. You can also include measures in your own expressionsfor user-defined measures.

Creating MeasuresYou can create measures by clicking from the Measure Results dialog box.The Measure Results dialog box is opened by clicking Analysis > Measuresor from the Mechanism toolbar.

Measure TypesIn the Type area of the Measure Definition dialog box, you can create thefollowing types of measures:• Position — Measures the location of a point, vertex, or motion axis duringthe analysis.

• Velocity — Measures the velocity of a point, vertex, or motion axis duringthe analysis.


• Acceleration — Measures the acceleration of a point, vertex, or motionaxis during the analysis.

• Connection Reaction — Measures the reaction forces and momentsat connections.

• Net Load — Measures the magnitude of a force load on a spring, damper,servo motor, force, torque, or motion axis. You can also confirm the forceload on a force motor.

• Loadcell Reaction — Measures the load on a loadcell lock during a forcebalance analysis.

• Impact — Determines whether impact occurred during an analysis at aconnection limit, slot end, or between two cams.

• Impulse — Measures the change in momentum resulting from animpact event. You can measure impulses for connections with limits, forCam-Follower connections with liftoff, or for Slot-Follower connections.

• System — Measures several quantities that describe the behavior of theentire system.

• Body — Measures several quantities that describe the behavior of aselected body.

• Separation — Measures the separation distance, separation speed, andchange in separation speed between two selected points.

• Cam — Measures the curvature, pressure angle, and slip velocity foreither of the cams in a Cam-Follower connection.

• User Defined – Defines a measure as a mathematical expression thatincludes measures, constants, arithmetical operators, Pro/ENGINEERparameters, and algebraic functions.

• Belt — Measures the belt tension and slip for a Belt connection.• 3D Contact — Measures the contact area, pressure angle, and slip velocityfor a 3D contact connection.

With the MDX option you can only create the Position, Velocity,Acceleration, Separation, Cam, Belt, 3D Contact measures, andSystem and Body measures that do not require mass calculations.With the MDO option, you can create all of the measure types.

References and Other OptionsThe references required and options required to create measurements willvary depending on the type of measure being created. For the typical position,velocity, or acceleration measure, a point or motion axis reference is required.

You can define the component of the measure as an overall magnitude oryou can specify it to be the X, Y, or Z component of the magnitude


Evaluation Methods

When you define analysis measures, you can select from several evaluationmethods. The graph of the measure and the quantity displayed under Valueon the Measure Results dialog box are different for different evaluationmethods.

For Each Time Step, you can define your measure after you run the analysis.For the other methods, you must define the measure before running ananalysis. If you define a measure with Maximum, Minimum, Integral,Average, Root Mean Square or At Time evaluation methods after you run ananalysis, the Status column on the Measure Results dialog box reports “Notcomputed” when you select the analysis.


PROCEDURE - Creating Analysis Measure Definitions

ScenarioCreate measures to evaluate the mechanism.

Measure measure.asm

Task 1: Create a translational motion axis motor.

1. Click Applications >Mechanism from the mainmenu.


3. Click from the Measure Definitiondialog box.

4. In the graphics area, click thedatum point MEASURE.

5. In the Component drop-down list, select Z-component. Notice thedirection arrow pointing in the Z direction.

6. In the Component drop-down list, select Y-component. This arrowcannot be seen because the model is covering it.


In the Results Set area of the Measure Results dialog box, thereare no results available in which to apply measure1.


8. Click Close to close the Measure Results dialog box.

Notice in the next two steps that the vertical translationpresent in the first analysis run produces a greater verticalreach than is seen in the second analysis run.

9. In the Mechanism tree, expand ANALYSES, right-clickWITH_TRANSLATION (KINEMATICS) and select RUN.

10. In the Mechanism tree, right-click NO_TRANSLATION (KINEMATICS)and select RUN.

11. In the Mechanism tree, expand PLAYBACKS. Notice that the twoanalysis runs are now in session.

12. Click . Notice that the two analysis runs are now also listed in theMeasure Results dialog box.

13. In the Measure Results dialog box, click measure1 and then clickNO_TRANSLATION.

14. Click WITH_TRANSLATION.

The Value listed formeasure1 in the dialog box for both analysesis 52.1564. This is the value at the start point of the analysisruns, where both have the same value.

15. Press CTRL and select theNO_TRANSLATION result setso that both result sets areselected.

16. With both result sets andmeasure1 selected, click .

From the graph you can verify that the measure results from theWITH_TRANSLATION analysis produce a larger Y-componentresult than the NO_TRANSLATION analysis.


Task 2: Create a parameter for the maximum measure value.

1. Click File > Exit from the Graphtool window.2. Select measure1, if necessary, and then click .3. In the Evaluation Method drop-down list, select Maximum and click

OK.4. Select the WITH_TRANSLATION result set.

The value listed for the measure now reads “Not Computed”.This is because the Maximum evaluation method requires theanalysis to be rerun.

5. Click Close to close the Measure Results dialog box.

6. In the ANALYSES node of the Mechanism tree, right-clickWITH_TRANSLATION (KINEMATICS), and select RUN.

7. Click Yes from the Confirmation window.8. Click .9. Click measure1 and click WITH_TRANSLATION.

The value listed for measure1, the maximum measure of theY-component during the analysis run, is 107.524.

10. Click to export the measure as a parameter.11. Click Tools > Parameters. Notice that the parameter has been

added to the model.



Evaluating Playback ResultsUse the Animation Playback tool to play and evaluate an analysisresult set.

Playbacks:

• Play• Restore• Save• Remove• Export• Motion Envelope

Configure Playbacks:

• Collision Detection Settings• Movie Schedule• Display Arrows

Playbacks Dialog Box

Evaluating Playback Results — TheoryYou use the Playbacks dialog box to view an analysis result set. You canalso change the display of your result set, check for interference, specify theamount of time the result set plays, and save it in several different formats.

Opening the Playbacks Dialog BoxYou open the Playbacks dialog box using one of the following methods:• Click Analysis > Playback.• Click from the mechanism toolbar.• Right-click PLAYBACKS from the Mechanism tree and select Play.

Using Playbacks Dialog Box ToolsThe following tools are available in the Playbacks dialog box:• — Plays back an analysis and opens the Animate dialog box. Use theoptions to control playback speed and direction.


• — Restores a result set. A dialog box opens with a list of previously savedresult set files. Browse and select a saved result set from disk.

• — Saves a results file to disk. A playback file has a .pbk extension. Youcan retrieve this file in the current or a later session to play back the resultsor calculate measures. The saved file includes all Display Arrows andMovie Schedule settings.

• — Removes the current results from the session.• — Exports a result set as a frame file with a .fra extension. You can usethe .fra file to create a motion envelope after you exit Mechanism Design.Use the Motion Envlp option from Pro/ENGINEER by clicking File > Save aCopy and selecting Motion Envlp as the file type.

• — Opens the Create Motion Envelope dialog box. This option is availablewhen you have a result set in the current session, or when you haverestored a .pbk file. Use it to shrinkwrap the swept volume created byyour mechanism during an analysis. Mechanism Design creates a facetedmotion envelope model that represents the full motion of the model, as themotion is captured in the frame file during the analysis.

Configuring Playbacks

You use the following to configure your playbacks:• Result Set— Display analysis results and saved playback files from thecurrent session.

• Collision Detection Settings — Specify whether your result set playbackincludes collision detection, how much it will include, and how the playbackwill display it.

• Movie Schedule — Record start and end times for your playback. Toaccess these, clear the Default Schedule check box.

• Display Arrows — If you are using an MDO license, you can use this tabto select measures and input loads that will be graphically displayed withthree-dimensional arrows during playback.


PROCEDURE - Evaluating Playback Results

ScenarioUse the Playbacks dialog box to manage and evaluate an analysis result set.

Playback playback.asm

Task 1: Run and save analyses results.

1. Click Applications > Mechanism from the main menu.2. In the Mechanism tree, notice that the PLAYBACKS node contains

no saved or in session analyses.

3. In the Mechanism tree, expandANALYSES, right-clickWITH_TRANSLATION(KINEMATICS), and selectRun.

4. Right-click NO_TRANSLATION(KINEMATICS) and select Run.

5. Expand the PLAYBACKS nodeand notice that both analysesthat were run are now shown inthe node.

Both animations are insession. They have notbeen saved to disk.

6. In the PLAYBACKS node, right-click WITH_TRANSLATION andselect Save.

7. Click Save from the Save Analysis Results dialog box to save theresults.

8. Click from the mechanism toolbar.• In the Playbacks dialog box, select NO_TRANSLATION from theResult Set drop-down list.

• Click and then click Save from the Save Analysis Results dialogbox to save the results.

You can use either of these methods to save the results of youranalysis to disk as a .pbk file. The next time you open this model,you can restore the results rather than run the analysis again.


Task 2: Play the analysis results.

1. In the Playbacks dialogbox, select the result setWITH_TRANSLATION from thedrop-down list.

2. Click to open the Animate dialogbox.

3. Click and then slide the Speedbar to the right to increase thespeed of the playback.

4. Click Close to close the dialogbox.

5. In the Playbacks dialog box, clear the Default Schedule check box.6. Edit the End value from 0 to 3 and press ENTER.7. Click .


9. Click and then slide the Speedbar to the right to increase speedof the playback.

The animation is nowlooping through only the first3 seconds of the animation.




Understanding the Animate Dialog BoxYou can use the animation dialog box to animate analysisresults.

Animate Controls and Options:

• Frames• Play and Frame Controls• Continuous Playback• Reverse Playback• Speed Control• Capture

Animation Dialog Box

Understanding the Animate Dialog Box — Theory

You use the Animate dialog box to control speed and direction when youplay back an animation result set.

Animate Controls

The Animate dialog box uses controls similar to a typical music or DVDplayer to control animation of the results you are playing. The buttons usedare as follows:• — Starts the playback.• — Plays the animation backwards.• — Stops the playback.• — Displays the next frame.• — Displays the previous frame.• — Resets playback to the beginning of the animation.• — Advances playback to the end of the animation.• — Sets continuous playback. The animation will loop.• — Reverses playback direction at each end of the animation.


• Frame Slide Bar — Slide the bar to advance the playback one frame at atime. The current frame number is displayed below the bar.

• Speed Slide Bar — Slide the bar to adjust the animation speed, left forslower and right for faster.

• Capture — Opens the Capture dialog box.

The Capture Dialog Box

Click Capture on the Animate dialog box to access the Capture dialog box.You use this window to record your animation as an MPEG or AVI file oras a series of JPEG, TIFF, or BMP files. The Capture dialog box containsthe following options:• Type — Specify if you want to save the animation as a single MPEG file(which is the default), or as a JPEG, TIFF, BMP, or AVI.

If you select a format other than MPEG or AVI, the animationis saved as a series of files named <filename_x>, where x is aconsecutive number starting with 1. Click Tools > Time Domainto change a frame number. Use external animation software tocreate an animation from the individual frames.

• Image Size — The default width and height values are the dimensions ofthe current graphics window (excluding the timeline and the navigationpane). These values will not change if you resize the graphics windowwhile the Capture dialog box is open.

• Lock Aspect Ratio — Select this check box to ensure that thewidth-to-height ratio remains the same when you resize the graphicswindow.

• Quality — Select the Photorender Frames check box to create aphotorealistic rendering of the animation.

• Frame Rate — Set the frame rate at which to record an MPEG or AVI file.• Compression — Click Select to open the Video Compression dialog boxand select a video setting from the list. Then configure the compression asrequired or accept the default Uncompressed.

Compression settings are only available for AVI files and cannotbe undone once the animation has been captured.

• OK — Click to begin recording.


Checking for CollisionsDrag components or animate analysis results to identifycollisions in a mechanism.

Arm Collides with Body

General Collision DetectionSettings:

• No Collision Detection• Global Collision Detection• Partial Collision Detection• Include Quilts

Collision Identification Settings:

• Ring Message Bell whenColliding

• Stop Animation Playback onCollision

Body Collides with Lift

Checking for Collisions — TheoryIf you enable collision detection in Pro/ENGINEER, collisions betweenmoving components will be detected during dragging operations or duringanimation of the assembly's analysis results. You can stop movementwhen a collision is detected, or continue moving the component and geta continuous collision view.

Collision Detection SettingsYou can access the Collision Detection Settings dialog box by clicking Tools> Assembly Settings > Collision Detections Settings or by clicking CollisionDetection Settings in the Playbacks dialog box. With these settings, you canspecify whether your result set playback includes collision detection, howmuch it will include, and how the playback will display it.

By default, Pro/ENGINEER does not check for collisions between movingcomponents. You must enable and configure collision detection using thefollowing general collision detection settings:


• No Collision Detection — This is the default setting. When set, no collisiondetection is performed and you are able to drag components smoothly,even if there is a collision.

• Global Collision Detection — Pro/ENGINEER will check for collisions inthe entire assembly and the collision will be identified in accordance withthe optional selected settings.

• Partial Collision Detection — Enables you to specify which componentsshould be checked for collision. This is especially useful in largeassemblies where performance can be an issue.

• Include Quilts — Select whether surface quilts will be included in thecollision detection process.

Use the following settings to determine how Pro/ENGINEER will notify youthat a collision has been detected:

• Ring Message Bell when Colliding — With this option enabled, a warningbell sounds upon collision.

• Stop Animation Playback on Collision — With this option enabled, theplayback stops upon collision.


PROCEDURE - Checking for Collisions

ScenarioCheck for collisions in the mechanism by dragging components andanimating analysis results.

Collision collision.asm

Task 1: Check for collisions by dragging components.

1. Click from the main toolbar.2. Select and drag the arm of the assembly so components collide with

one another.3. Middle-click to stop the drag.4. Click Tools > Assembly Settings > Collision Detection Settings.5. Click Global Collision Detection and Ring Message Bell when

Colliding in the Collision Detection Settings dialog box and click OK.

6. Click from the main toolbar.7. Select and drag the arm of the

assembly so components collidewith one another.

You are now warned ofcollisions while dragging byboth the collision detectionsound and the highlightedinterference volume shownin the graphics area.

8. If necessary, click to return the components to their originalregenerated position.

Task 2: Check for collisions by animating analysis results.

1. Click Applications > Mechanism from the main menu.2. Click from the mechanism toolbar.3. In the Playbacks dialog box, click and double-click the

WITH_TRANSLATION.pbk file.4. Click Collision Detection Settings.

• Click Stop Animation Playback on Collision.• Click OK.



6. Click to start the animation.

The animation stops at thefirst frame where a collisionis detected.

7. Click approximately 12 times, sothe animation will step througheach frame where collision isdetected.

The animation will thencontinue on until the nextcollision is detected.

8. Middle-click and drag to spin themodel during the animation.


10. Click Close from the Playbacks dialog box.11. If necessary, click to return the components to their original

regenerated position.



Creating Motion EnvelopesMotion envelopes are a faceted model created from the fullmotion of a mechanism.

Mechanism

Create Motion Envelope:

• Quality• Selected Components• Special Handlings• Output Format

Motion Envelope from Frame File:

• Export Frame (.fra) File• Save a Copy

Motion Envelope of Mechanism

Creating Motion Envelopes — TheoryA motion envelope is a faceted model that is created from the full motion ofyour mechanism during an analysis. You use the motion envelope to evaluateoverall size, packaging restrictions, enclosure requirements, and so on.

Creating a Motion EnvelopeYou create motion envelops by clicking from the Playbacks dialog box or byreading an exported frame (.fra) file.

Selecting the opens the Create Motion Envelope dialog box. Select from thefollowing settings to create a motion envelope using this method:

To use this method, you must have an analysis result set open inthe current session or you must have restored a saved .pbk file.

• Quality Level — In the Quality area, specify the quality level for creatingthe motion envelope model. Type an integer from 1-10. The default quality


level of 1 is the lowest quality model. Models at this level are created froma low number of facets, and thus have a lower quality representation of themotion. Using a higher quality level, such as 10, increases the number offacets and yields a higher-quality representation. Note that higher qualitylevels require more computer resources to create.

• Select Components — Select or de-select sub-assemblies, parts, orbodies in your assembly to include in your motion envelope.

• Special Handling — Depending on your requirements, select or clear theIgnore Skeletons and Ignore Quilts check boxes.

• Output Format — In the Output Format area of the dialog box, specify oneof the following output file formats:– Part — Creates a Pro/ENGINEER part with faceted solid geometry.– LW Part — Creates a lightweight Pro/ENGINEER part with a lightweight

facet feature.– STL — Creates a .stl file.– VRML — Creates a .vrl file.

• Output File Name — In the Output File Name area, you can accept thedefault file name or enter another name. For Part and LW Part envelopes,you can also create the model using the default template model.

• Preview — Creates a shaded representation of the triangles for the motionenvelope. A message window reports the number of triangles produced.

• Create — Completes the envelope and saves the model to disk.

Motion Envelope from Frame File

You also create a motion envelope by reading in an exported frame file. Thebenefit of this method is that you can use it outside of Mechanism mode. Youcan send a frame file to a user or supplier who does not have access toMechanism mode and they can still create the motion envelope model.

Use the following steps to create a motion envelope using this method:• Restore or select an analysis results file (.pbk) in the Playbacks dialog boxand click to export the frame (.fra) file.

• Exit Mechanism mode by clicking Applications > Standard.• Click File > Save a Copy from the main menu and from the Typedrop-down list, select Motion Envlp. Then select the frame file that will beused to create the motion envelope.

• Complete the model using options in Create Motion Envelope dialog box.


PROCEDURE - Creating Motion EnvelopesScenarioCreate motion envelopes representing the analysis result set of themechanism.

Envelope envelope.asm

Task 1: Create an envelope from the Playbacks dialog box.

1. Click Applications > Mechanism from the main menu.2. Click from the mechanism toolbar.3. In the Playbacks dialog box, click and double-click the

WITH_TRANSLATION.pbk file.4. Click to export a frame (.fra) file.

You will use this frame file to create a motion envelope in a latertask.

5. Click to open the Create Motion Envelope dialog box.• Edit the Quality Level to 7 and press ENTER.

You have to click OK from the Motion Envlp Alert dialogbox when you set the quality level higher than 2.

• Click , press CTRL, and in the model tree, de-selectENVELOPE_PIN1.PRT and ENVELOPE_PIN2.PRT.

• Click Create.• In the New File Options dialog box, click OK.

6. Click from the main toolbar.7. Double-click ENVELOPE_EN

V0001.PRT to open the newlycreated motion envelope.

Notice that you are no longer in Mechanism mode. This envelopeis a standard Pro/ENGINEER part. In the model tree, you cansee that it is created from faceted surfaces and a Solidify feature.


Task 2: Create an envelope by reading in a frame file.

1. Click Window > ENVELOPE.ASM to return to the mechanismassembly.

2. Click Applications > Standard to exit Mechanism mode.3. Click File > Save a Copy.4. In the Save a Copy dialog box, select Motion Envlp from the TYPE

drop-down list and click OK.5. Click Open to open the frame file WITH_TRANSLATION.fra.

• Edit the Quality Level to 6.• Click LW Part as the Output Format.• Click Create.• In the New File Options dialog box, click OK.

The frame file WITH_TRANSLATION.fra was previouslyexported.

6. Click from the main toolbar.7. Double-click ENVELOPE_EN

V0002.PRT to open the newlycreated motion envelope.

Notice in the model tree that this LW Part type is createdusing a Facet feature. It is not a solid feature like theENVELOPE_ENV0001.PRT.



Copyright

Mechanism Design using Creo Elements/Pro 5.0(formerly Pro/ENGINEER Wildfire 5.0)

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Software includes: Apache Server, Axis, Ant, Tomcat, Xalan,Xerces, Batik, Jakarta, Apache POI, Jakarta Regular Expression, Commons-FileUpload, Solr, Tika,and XMLBeans IBM XML Parser for Java Edition, the IBM SaxParser and the IBM Lotus XSL EditionDITA-OT - Apache License Version IzPack: Java-based Software Installers Generator (http://www.izforge.com/izpack/start) Jakarta–ORO NekoHTML and CyberNeko Pull Parser software developed by Andy Clark © Copyright Andy Clark. All rights reserved. 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Microsoft Ajax Library provided pursuant to the Microsoft Software Supplemental License Termsfor Microsoft ASP.NET 2.0 AJAX Extensions. The Boost Library - Misc. C++ software from http://www.boost.org; Provided pursuant to: Boost Software License http://www.boost.org/more/license_info.html and http://www.boost.org/LICENSE_1_0.txt. AspectJ (http://www.eclipse.org/aspectj/) andEclipse SWT (http://www.eclipse.org/swt/); Copyright 20xx The Eclipse Foundation are distributedunder the Eclipse Public License (EPL) (http://www.eclipse.org/org/documents/epl-v10.php) and isprovided AS IS by authors with no warranty therefrom and any provisions which differ from the EPLare offered by PTC. Upon request, PTC will provide the source code for such software for a chargeno more than the cost of performing this distribution. Command Line Argument Parser. Author [email protected] is licensed pursuant to the Shared Source License for Command Line ParserLibrary and is provided by the author "as is" with no warranties (none whatsoever). This means noexpress, implied, or statutory warranty, including without limitation, warranties of merchantability orfitness for a particular purpose, or any warranty of title or noninfringement. No contributor to theSoftware will be liable for any of those types of damages known as indirect, special, consequential,or incidental related to the Software to the maximum extent the law permits, no matter what legaltheory it’s based on. The following software is incorporated pursuant to the "BSD License" (BerkeleySoftware Distribution) or a similar style license: iCal4j is Copyright © 2005, Ben Fortuna, All rightsreserved. Dojo – Copyright 2005, The Dojo Foundation, All rights reserved. Jaxen (shipped as partof dom4j) Copyright 2003-2006 The Werken Company. All Rights Reserved. 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(http://www.antlr.org/license.html)NativeCall Java Toolkit (http://sourceforge.net/projects/nativecall/) Redistribution and use of the above in source and binary forms, with or without modification, is permitted provided that the followingconditions are met: (i) Redistributions of source code must retain the above copyright notice, thislist of conditions, and the following disclaimer; (ii) Redistributions in binary form must reproduce theabove copyright notice, this list of conditions, and the following disclaimer in the documentation and/or other materials provided with the distribution; and (iii) Neither the name of the copyright holdernor the names of any other contributors may be used to endorse or promote products derived fromthis software without specific prior written permission. THE ABOVE SOFTWARE IS PROVIDED BYTHE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIEDWARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,INCIDENTAL, SPECIAL, EXEMPLARY, ORCONSEQUENTIAL DAMAGES (INCLUDING, BUTNOTLIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OFLIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCEOR OTHERWISE) ARISING IN ANYWAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. The Java Getopt.jar file, copyright 1987 1997 FreeSoftware Foundation, Inc. #ZipLib GNU software is developed for the Free Software Foundation, Inc.59 Temple Place, Suite 330, Boston, MA 02111-1307 USA, copyright © 1989, 1991. PTC herebydisclaims all copyright interest in the program #ZipLib written by Mike Krueger. #ZipLib licensed freeof charge and there is no warranty for the program, to the extent permitted by applicable law. Exceptwhen otherwise stated in writing the copyright holders and/or other parties provide the program ASIS without warranty of any kind, either expressed or implied, including, but not limited to, the impliedwarranties of merchantability and fitness for a particular purpose. The entire risk as to the quality andperformance of the program is with you. Should the program prove defective, you assume the cost ofall necessary servicing, repair, or correction. The following software is incorporated pursuant to the"MIT License" (or a similar license): SLF4J source code and binaries Copyright 2004-20xx QOS.ch.All rights reserved. Script.aculo.us (built on "prototype.conio.net"). Copyright 2005 Thomas Fuchs (http://script.aculo.us, http://mir.aculo.us). ICU4J software Copyright 1995-2003 International BusinessMachines Corporation and others. All rights reserved. Except as contained in this notice, the name ofa copyright holder shall not be used in advertising or otherwise to promote the sale, use or other dealings in this Software without prior written authorization of the copyright holder. json library: Copyright2002 JSON.org. XPM Copyright 1989-95 GROUPE BULL. DynamicToolbar FCKEditor plugin, v1.1(080810); Copyright 2008, Gonzalo Perez de la Ossa (http://dense13.com/). JQuery Copyright 2008John Resig (www.jquery.com) NATIVECALL (C) 2002–2008 Johann Burkard. All rights reserved.(http://johannburkard.de/software/nativecall/) The above software is used and redistributed under thefollowing permissions: Permission is hereby granted, free of charge, to any person obtaining a copyof this software and associated documentation files (the "Software"), to deal in the Software withoutrestriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished todo so, subject to the following conditions: The above copyright notice and this permission notice shallbe included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "ASIS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSEAND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERSBE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OFCONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THESOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. The Java™ Telnet Applet(StatusPeer.java, TelnetIO.java, TelnetWrapper.java, TimedOutException.java), Copyright © 1996,97 Mattias L. Jugel, Marcus Meißner, is redistributed under the GNU General Public License. Thislicense is from the original copyright holder and the Applet is provided WITHOUT WARRANTY OFANY KIND. You may obtain a copy of the source code for the Applet at http://www.mud.de/se/jta (fora charge of no more than the cost of physically performing the source distribution), by sending e mailto [email protected] or [email protected]—you are allowed to choose either distribution method. Said source code is likewise provided under the GNU General Public License. The following software, whichmay be called by certain PTC software products, is licensed under the GNU General Public License(http://www.gnu.org/licenses/gpl.txt) and if used by the customer is provided AS IS by the authors withno warranty therefrom without even the implied warranty of MERCHANTABILITY or FITNESS FOR

A PARTICULAR PURPOSE (see the GNU GPL for more details). Upon request PTC will providethe source code for such software for a charge no more than the cost of performing this distribution:The PJA (Pure Java AWT) Toolkit library (http://www.eteks.com/pja/en). The following unmodifiedlibraries are likewise distributed under the GNU-GPL: libstdc and #ziplib (each are provided pursuantto an exception that permits use of the library in proprietary applications with no restrictions providedthat the library is not modified). The following products are licensed with the Classpath exception(Linking this library statically or dynamically with other modules is making a combined work basedon this library. Thus, the terms and conditions of the GNU General Public License cover the wholecombination. As a special exception, the copyright holders of this library give you permission to linkthis library with independent modules to produce an executable, regardless of the license terms ofthese independent modules, and to copy and distribute the resulting executable under terms of yourchoice, provided that you also meet, for each linked independent module, the terms and conditions ofthe license of that module. An independent module is a module which is not derived from or based onthis library.): javax.media.j3d package; Copyright 1996-2008 Sun Microsystems, Inc., 4150 NetworkCircle, Santa Clara, CA 95054, USA. All rights reserved. The source code is licensed under theGNU Public License, version 2. This project contains the following third-party source code that isprovided under separate licensing terms (These terms are found in the THIRDPARTY-LICENSE-*.txtfiles in the top-level directory of this project. See the README-FIRST.txt for more information.).3D Graphics API for the Java Platform 1.6.0 Pre-Release licensed under the GNU Public License,version 2, with the Classpath Exception. #ziplib (SharpZipLib, formerly NZipLib), a Zip, GZip, Tar andBZip2 library, Copyright 2000-20xx IC#Code. All rights reserved. #ZipLib was originally developedby Mike Krueger ([email protected]) with the following attributions: (i) Zip/Gzip implementation(a Java version of the zlib) originally created by the Free Software Foundation (FSF); (ii) zlib authorsJean-loup Gailly ([email protected]), Mark Adler ([email protected]) and its other contributors; (iii) Julian R Seward for the bzip2 implementation; (iv) the Java port done by Keiron Liddle, AftexSoftware ([email protected]); (v) tar implementation by Timothy Gerard Endres ([email protected]);and (vi) Christoph Wille for beta testing, suggestions, and the setup of the Web site. The following isdistributed under GNU Lesser General Public License (LGPL) which is at http://www.gnu.org/copyleft/lesser.html and is provided AS IS by authors with no warranty therefrom without even the impliedwarranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE (see the GNU LGPLfor more details). Upon request, PTC will provide the source code for such software for a charge nomore than the cost of performing this distribution: eXist, an Open Source Native XML Database.You may obtain a copy of the source code at http://exist.sourceforge.net/index.html. The sourcecode is likewise provided under the GNU LGPL. GTK+ - The GIMP Toolkit. You may obtain a copyof the source code at http://www.gtk.org/, which is likewise provided under the GNU LGPL. Java Portcopyright 1998 by Aaron M. Renn ([email protected]). You may obtain a copy of the source code at http://www.urbanophile.com/arenn/hacking/download.html. The source code is likewiseprovided under the GNU LGPL. JFreeChart is licensed under the GNU LGPL and can be found athttp://www.jfree.org. OmniORB Libraries (OmniOrb is distributed under the terms and conditions ofthe GNU General Public License). The generic AIM library provided pursuant to the JAIMBot project(http://jaimbot.sourceforge.net/). JAIMBot is a modular architecture for providing services through anAIM client. It contains a generic AIM library and a Bot that uses this library to provide such servicesas Offline Messaging and Weather. PTC does not use the Bot. JExcelApi (http://jexcelapi.sourceforge.net/). 7-Zip Copyright 1999-2006 Igor Pavlov (http://www.7-zip.org). libiconv Copyright 1991Free Software Foundation, Inc. (http://www.gnu.org/software/libiconv/). NHibernate © 200x, Red HatMiddleware, LLC. All rights reserved (http://www.hibernate.org/343.html). MPXJ © 2000-2008, Packwood Software (http://mpxj.sourceforge.net/). Java Server Faces V3.0.1 (http://java.sun.com/javaee/javaserverfaces/). DevlL Image Lib 0.1.6.7 (http://openil.sourceforge.net/). Zip Master ComponentLib 1.79 (http://www.delphizip.org). Exadel RichFaces 3.0.1 (http://www.exadel.com). Jfree / JfreeChart 1.0.0 (http://www.jfree.org/). Memory DLLLoading code 0.0.1 (http://www.dsplayer.de/open source probjects/BTMemoryModule.zip). May include Jena Software © Copyright 2000, 2001, 2002,2003, 2004, 2005 Hewlett-Packard Development Company, LP. THIS SOFTWARE IS PROVIDEDBY THE AUTHOR "AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUTNOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR APARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLEFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS ORSERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVERCAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THEUSE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Jenaincludes: Jakarta–ORO software developed by the Apache Software Foundation (described above).

ICU4J software Copyright © 1995-2003 International Business Machines Corporation and others Allrights reserved. Software is used under the MIT license described above. Except as contained inthis notice, the name of a copyright holder shall not be used in advertising or otherwise to promotethe sale, use or other dealings in this Software without prior written authorization of the copyrightholder. CUP Parser Generator Copyright ©1996-1999 by Scott Hudson, Frank Flannery, C. ScottAnanian–used by permission. The authors and their employers disclaim all warranties with regard

to this software, including all implied warranties of merchantability and fitness. In no event shallthe authors or their employers be liable for any special, indirect or consequential damages, or anydamages whatsoever resulting from loss of use, data or profits, whether in an action of contract,negligence or other tortious action arising out of or in connection with the use or performance of thissoftware. ImageMagick software is Copyright © 1999-2005 ImageMagick Studio LLC, a nonprofitorganization dedicated to making software imaging solutions freely available. ImageMagick is freelyavailable without charge and provided pursuant to the following license agreement: http://www.imagemagick.org/script/license.php. Info-Zip and UnZip (© 1990 2001 Info ZIP, All Rights Reserved)is provided AS IS and WITHOUT WARRANTY OF ANY KIND. For the complete Info ZIP licensesee http://www.info-zip.org/doc/LICENSE. "Info-ZIP" is defined as the following set of individuals:Mark Adler, John Bush, Karl Davis, Harald Denker, Jean-Michel Dubois, Jean-loup Gailly, HunterGoatley, Ed Gordon, Ian Gorman, Chris Herborth, Dirk Haase, Greg Hartwig, Robert Heath, JonathanHudson, Paul Kienitz, David Kirschbaum, Johnny Lee, Onno van der Linden, Igor Mandrichenko,Steve P. Miller, Sergio Monesi, Keith Owens, George Petrov, Greg Roelofs, Kai Uwe Rommel, SteveSalisbury, Dave Smith, Steven M. Schweda, Christian Spieler, Cosmin Truta, Antoine Verheijen, Paulvon Behren, Rich Wales, and Mike White. ICU Libraries (International Components for Unicode)Copyright 1995-2001 International Business Machines Corporation and others, All rights reserved.Libraries are provided pursuant to the ICU Project (notice is set forth above) at http://www-306.ibm.com/software/globalization/icu/index.jsp. The Independent JPEG Group's JPEG software. Thissoftware is Copyright © 1991-1998, Thomas G. Lane. All Rights Reserved. This software is basedin part on the work of the Independent JPEG Group. iText Library - Copyright © 1999-2006 by BrunoLowagie and Paulo Soares. All Rights Reserved – source code and further information available athttp://www.lowagie.com/iText. jpeg-6b.zip - JPEG image compression library, version 6.2. Used tocreate images for HTML output; Provided pursuant to: http://www.faqs.org/faqs/jpeg-faq/part2. Popup calendar components Copyright © 1998 Netscape Communications Corporation. All Rights Reserved. METIS, developed by George Karypis and Vipin Kumar at the University of Minnesota, canbe researched at http://www.cs.umn.edu/~karypis/metis. Mozilla Japanese localization componentsare subject to the Netscape Public License Version 1.1 (at http://www.mozilla.org/NPL). Softwaredistributed under the Netscape Public License (NPL) is distributed on an AS IS basis, WITHOUTWARRANTY OF ANY KIND, either expressed or implied (see the NPL for the rights and limitationsthat are governing different languages). The Original Code is Mozilla Communicator client code,released March 31, 1998 and the Initial Developer of the Original Code is Netscape Communications Corporation. Portions created by Netscape are Copyright © 1998 Netscape CommunicationsCorporation. All Rights Reserved. Contributors: Kazu Yamamoto ([email protected]), Ryoichi Furukawa ([email protected]), Tsukasa Maruyama ([email protected]), Teiji Matsuba ([email protected]). The following components are subject to the Mozilla Public License Version 1.0 or 1.1 athttp://www.mozilla.org/MPL (the MPL) and said software is distributed on an AS IS basis, WITHOUTWARRANTY OF ANY KIND, either expressed or implied and all warranty, support, indemnity or liability obligations under PTC’s software license agreements are provided by PTC alone (see the MPLfor the specific language governing rights and limitations the source code and modifications theretoare available under the MPL and are available upon request): Gecko and Mozilla components Spidermonkey Charset Detector Saxon-B (http://www.saxonica.com/documentation/conditions/intro.html).Office Partner Components 1.64 (http://sourceforge.net/projects/tpofficepartner/). Rhino JavaScriptengine, distributed with a form of the Mozilla Public License (MPL). tiff-v3.4-tar.gz - Libtiff File IOLibrary version 3.4: (see also http://www.libtiff.org ftp://ftp.sgi.com/graphics/tiff) Used by the image EFI library; Provided pursuant to: http://www.libtiff.org/misc.html. The DITA standards, includingDITA DTDs, DITA Schemas, and portions of the DITA specification used in online help; copyright2005-2009 OASIS Open. All rights reserved. This product includes software developed by the OpenSSL Project for use in the OpenSSL Toolkit. (http://www.openssl.org/): Copyright © 1998 2004 TheOpenSSL Project. All rights reserved. This product includes cryptographic software written by EricYoung ([email protected]) WHICH IS PROVIDED BY ERIC YOUNG ''AS IS'' AND ANY EXPRESSOR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIESOF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. INNO EVENT SHALL THE AUTHORORCONTRIBUTORS BE LIABLE FOR ANYDIRECT, INDIRECT,INCIDENTAL, SPECIAL, EXEMPLARY, ORCONSEQUENTIAL DAMAGES (INCLUDING, BUTNOTLIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OFLIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCEOR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. This product also includes software written byTim Hudson ([email protected]). pcre-4.3-2-src.zip - Perl Compatible Regular Expression Libraryversion 4.3. http://www.pcre.org; Provided pursuant to: PCRE License. lpng120.zip - PNG imagelibrary version 1.2.0. http://www.ijg.org; Provided pursuant to: http://www.libpng.org/pub/png/src/libpng-LICENSE.txt. libpng, Copyright © 2004 Glenn Randers-Pehrson, which is distributed accordingto the disclaimer and license (as well as the list of Contributing Authors) at http://www.libpng.org/pub/png/src/libpng-LICENSE.txt. METIS is © 1997 Regents of the University of Minnesota.

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pose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies. THE SOFTWARE IS PROVIDED AS IS, WITHOUT WARRANTYOF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIESOF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENTOF THIRD PARTY RIGHTS. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERSBE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OFCONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THESOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Except as contained inthis notice, the name of a copyright holder shall not be used in advertising or otherwise to promotethe sale, use, or other dealings. Java Advanced Imaging (JAI) is provided pursuant to the Sun JavaDistribution License (JDL) at http://www.jai.dev.java.net. The terms of the JDL shall supersede anyother licensing terms for PTC software with respect to JAI components. Regular expression supportis provided by the PCRE library package, which is open source software, written by Philip Hazel, andcopyright by the University of Cambridge, England. This software is based in part on the work ofthe Independent JPEG Group. Regular Expressions support was derived from copyrighted softwarewritten by Henry Spencer, Copyright © 1986 by University of Toronto. SGML parser: Copyright ©1994, 1995, 1996, 1997, 1998 James Clark, 1999 Matthias Clasen. XML parser and XSLT processing was developed using Libxml and Libxslt by Daniel Veillard, Copyright © 2001. libWWW (W3C'simplementation of HTTP) can be found at: http://www.w3.org/Library; Copyright © 1994-2000 WorldWide Web Consortium, (Massachusetts Institute of Technology, Institut National de Recherche enInformatique et en Automatique, Keio University). All Rights Reserved. This program is distributed under the W3C's Software Intellectual Property License at: http://www.w3.org/Consortium/Legal/2002/copyright-software-20021231. This program is distributed in the hope that it will be useful, butWITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See W3C License http://www.w3.org/Consortium/Legal formore details. Copyright © 1995 CERN. "This product includes computer software created and madeavailable by CERN. This acknowledgment shall be mentioned in full in any product which includesthe CERN computer software included herein or parts thereof." Perl support was developed with theaid of Perl Kit, Version 5.0. Copyright © 1989-2002, Larry Wall. All rights reserved. The cad2edaprogram utilizes wxWidgets (formerly wxWindows) libraries for its cross-platform UI API, which islicensed under the wxWindows Library License at http://www.wxwindows.org. ZLib - Compressionlibrary; Copyright 1995-2005 Jean-loup Gailly and Mark Adler; Provided pursuant to ZLib License athttp://www.zlib.net/zlib_license.html. ATLPort copyright 1999, 2000 Boris Fomitchev is provided bythe copyright holder "as is" with absolutely no warranty expressed or implied. Permission to use orcopy this software for any purpose is granted without fee, provided the foregoing notices are retainedon all copies. Permission to modify the code and to distribute modified code is granted, providedthe above notices are retained and a notice that the code was modified is included with the abovecopyright notice. PTC reserves the right to modify this code and may do so without further notice.OpenCASCADE software is subject to the Open CASCADE Technology Public License Version 6.2(the "License"). This software may only be used in compliance with the License. A copy of theLicense may be obtained at http://www.opencascade.org. The Initial Developer of the Original Codeis Open CASCADE S.A.S., with main offices at 15 bis, rue Ernest Renan 92136, Issy Les Moulineaux,France. The Original Code is copyright © Open CASCADE S.A.S., 2001. All rights reserved. "TheOriginal Code” and all software distributed under the License are distributed by OpenCASCADE onan "AS IS" basis, without warranty of any kind, and the Initial Developer hereby disclaims all suchwarranties, including without limitation, any warranties of merchantability, fitness for a particular purpose, or noninfringement (please see the License for the specific terms and conditions governingrights and limitations under the License). PTC product warranties are provided solely by PTC. Certain Pro/TOOLMAKER functions/libraries are as follows: CSubclassWnd version 2.0 - Misc. C++software; Copyright © 2000 NEWare Software. STLPort - C++ templates; ©1999,2000 Boris Fomitchev; Provided pursuant to: STLPort License http://stlport.sourceforge.net/License.shtml. Zip32- Compression library; Copyright © 1990-2007. Info-ZIP; Provided pursuant to: Info-ZIP Licensehttp://www.info-zip.org/pub/infozip/license.html. Inno Setup - Installer package; Copyright 1997-2007Jordan Russell; Provided pursuant to Inno Setup License http://www.jrsoftware.org/files/is/license.txt. 7-Zip - Compression package; Copyright 1999-2007 Igor Pavlov; Provided pursuant to 7-ZipLicense http://www.7-zip.org/license.txt. The implementation of the loopmacro in CoCreate Modelingis based on code originating from MIT and Symbolics, Inc. Portions of LOOP are Copyright 1986 bythe Massachusetts Institute of Technology and Portions of LOOP are Copyright 1989, 1990, 1991,1992 by Symbolics, Inc. All Rights Reserved. Used under license pursuant to which permission touse, copy, modify and distribute this software and its documentation for any purpose and without feeis granted, provided that the copyright holder’s copyright notice appear in all copies and that boththat copyright notice and this permission notice appear in supporting documentation. The names"M.I.T." and "Massachusetts Institute of Technology" and "Symbolics" may not be used in advertisingor publicity pertaining to distribution of the software without specific, written prior permission. Noticemust be given in supporting documentation that copying distribution is by permission of the copyrightholders. The copyright holders make no representations about the suitability of this software for anypurpose. It is provided "as is" without express or implied warranty. ORACLE, ODBC, and DB2/CLITemplate Library, Version 4.0.126, Copyright Sergei Kuchin, 1996, 20xx. This library is free software.

Permission to use, copy, modify and redistribute it for any purpose is hereby granted without fee, provided that the preceding copyright statement appears in all copies. (see http://otl.sourceforge.net/)The following items are used and licensed pursuant to the Common Development and DistributionLicense (CDDL). See https://mq.dev.java.net/LICENSE.txt. Metro Web Services Stack, CopyrightSun Microsystems. The copyright holders of this library give permission to link this library with independent modules to produce an executable, regardless of the license terms of these independentmodules, and to copy and distribute the resulting executable under differing terms, provided that, foreach linked independent module, the terms and conditions of the license of that module are met.Source Code for Metro will be provided upon request and is licensed under the terms of the CDDL.Open MQ – In addition, this project uses Mozilla Network Security Services and Network SecurityPortable Runtime (NSS / NSPR) which are licensed under the Mozilla Public License. OpenDS usesBerkeleyDB which is described above.

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