You can apply motions using joints or directly to parts. The process for defining the function is the same.
To define a motion:
Select the Motion tab of the joint or part motion.
Set Motion On to the DOF (degree of freedom) to which you would like to apply the motions.
Set Motion Type to one of the following:
Free (This is the default. The joint is free to move as driven by joints, motions, and forces in the system.)
Displacement
Velocity
Acceleration
Select a Function, or select Template
Editor to open the function
template.
Using the Function Builder, you can create step or harmonic functions,
or enter data points. Select the function from the Function
Type pull-down
menu, complete the text boxes for the function, and then select OK
to close the Function Builder dialog box.
The Function Builder inserts the function expression at the cursor
in the Motion Expression text box. If there is an expression in the Motion
Expression text box that is not highlighted, the Function Builder adds
the new function to the existing expression. If there is an expression
in the Motion Expression text box, it is replaced by the expression
that you created.
The Function Builder assumes degrees for rotational motion. In the
Motion Expression text box, radians are assumed unless you enter a d after the number.
For example, to specify a velocity of 60 degrees per second, you would
enter 60d
in the Motion
Expression
text box and set Type to Velocity.
If you enter 60, it means 60
radians per second.
Select Apply.