Step 

Description 

(Samples/Devices/Motor).

• Create a joint and select axis,
• Show the Modify panel then select the Devices sub-panel.

 

 

• Click on Choose Device icon to open the list of plugins that may be attached to this geometry.
• Choose Motor

Mount As: represents the name of the device in the simulation.

Startup: Set it to 'On' to force motor to reach speed specified in Instance panel (see below). 

 

Double-click on the sensor's reference in order to display/change its settings:

Max torque:
Indicates the motor's maximum torque: here you many enter either the torque of the motor itself or torque after reduction (gearbox).

Rotational speed:
Maximum rotation speed of motor axis after reduction.

Gear box reduction:
Reduction coefficient for the reduction box (i.e. 100:1).

Max acceleration:
Limits the motor accelerations. 0 indicates the motor does not have acceleration limit.

Odometer Enabled:
Indicates whether or not an odometer counter is being used.

Counter:
Indicates counter resolution per axis rotation, placed either directly after the motor or after reduction (gearbox). The counter can be signed or unsigned.

Resistant torques:
Static and viscous resistant torques. Set to 0 for disabling this feature. Those parameters override joint's axis: you can disable this behavior by checking the property do not override axis resistive torques (Instance panel). (See also axis settings)

Initial rot. Speed:
Rotational speed to reach at the simulation startup (if device is On). 

 

In MODA programming, motors are accessible via the (or DeviceMotor class) class. The motor's full path, starting at PHX "/" is hinge0/a1/motor.