T2242 PDF

Mechanism Design using Creo Elements/Pro
5.0 (formerly Pro/ENGINEER Wildfire 5.0)
T2242-370-01
Authored and published using

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Training Agenda
Day 1
Module 01 ― Introduction to the Mechanism Design Process
Module 02 ― Creating Mechanism Connections
Module 03 ― Configuring Motion and Analysis
Module 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Understanding the Mechanism Design Process . . . . . . . . . . . . . . . . 1-4
Creating the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Verifying the Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Adding Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Preparing for Analysis of a Mechanism . . . . . . . . . . . . . . . . . . . . . . 1-11
Analyzing the Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Evaluating Analysis Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Creating Mechanism Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Creating Mechanism Bodies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Understanding Constraints and Connection Sets . . . . . . . . . . . . . . . 2-4
Understanding Predefined Connection Sets . . . . . . . . . . . . . . . . . . . 2-6
Configuring Motion Axis Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Using Rigid Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Using Pin Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Using Slider Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Using Cylinder Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Using Planar Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
Using Ball Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
Using Weld Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
Using Bearing Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Using General Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Using Slot Connection Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42
Creating Cam-Follower Connections . . . . . . . . . . . . . . . . . . . . . . . . 2-45
3D Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-50
Creating Generic Gear Connections . . . . . . . . . . . . . . . . . . . . . . . . 2-53
Creating Dynamic Gear Connections. . . . . . . . . . . . . . . . . . . . . . . . 2-57
Creating Belt Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-61
Using the Drag and Snapshot Tools . . . . . . . . . . . . . . . . . . . . . . . . 2-65
Configuring Motion and Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Understanding Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Understanding Analysis Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Creating Geometry Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Creating Motion Axis Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Creating Slot Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
Graphing the Magnitude of Servo Motors . . . . . . . . . . . . . . . . . . . . 3-22
Assigning Constant Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
Assigning Ramp Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
Assigning Cosine Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
Assigning SCCA Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
Assigning Cycloidal Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
Assigning Parabolic Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42
Assigning Polynomial Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46
Assigning Table Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
Evaluating Analysis Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Generating Measure Results for Analysis . . . . . . . . . . . . . . . . . . . . . 4-2
Creating Analysis Measure Definitions . . . . . . . . . . . . . . . . . . . . . . . 4-4
Evaluating Playback Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Understanding the Animate Dialog Box . . . . . . . . . . . . . . . . . . . . . . 4-14
Checking for Collisions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Creating Motion Envelopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Student Preface — Using the Header
In this topic, you learn about the course handbook layout and
the 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 locate
information after the course is complete. Each course is organized into
modules, each covering a general subject. Each module contains topics,
with each topic focused on a specific portion of the module subject. Each
individual topic in the module is divided into the following sections:
• Concept — This section contains the initial introduction to the topic and
is presented during the class lecture as an overhead slide, typically with
figures and bullets.
• Theory — This section provides detailed information about content
introduced in the Concept, and is discussed in the class lecture but not
shown on the overhead slide. The Theory section contains additional
paragraphs of text, bullets, tables, and/or figures.
• Procedure — This section provides step-by-step instructions about how to
complete the topic within Pro/ENGINEER. Procedures are short, focused,
and cover a specific topic. Procedures are found in the Student Handbook
only. Not every topic has a Procedure, as there are knowledge topics that
contain only Concept and Theory.
• Exercise — Exercises are similar to procedures, except that they are
typically longer, more involved, and use more complicated models.
Exercises also may cover multiple topics, so not every topic will have an
associated exercise. Exercises are found in the separate Exercise Guide
and/or the online exercise HTML files.
The first module for certain courses is known as a “process

module.” Process modules introduce you to the generic high-level
processes that will be taught over the span of the entire course.
Procedure / Exercise Header

To make the exercises and procedures (referred to collectively as “labs”) as
concise as possible, each begins with a “header.” The header lists the name
of 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 have
been 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 are
stored 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 set
as the Working Directory.
• To set the working directory, right-click the folder in the folder tree or
browser, and select Set Working Directory.
5. Model to Open — This is the file to be opened from the working

directory. 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 are
expected to begin the lab without an open model, and instead create a
new model, you will see Create New.
• To open the indicated model, right-click the file in the browser and
select Open.
6. Datum Display Setting — The initial datum display you need to set
is shown using icons. For example, indicates that you
should display only datum planes. Datum axes, datum points, and
datum coordinate systems should be disabled in this case.
• Before beginning the lab, set the icons in the datum display toolbar
to match those shown in the header.
7. Task Name — Labs are broken into distinct tasks. There may be one
or more tasks within a lab.
8. Lab Steps — These are the individual steps required to complete
a task.
Two other items to note for labs:
• Saving — Saving your work after completing a lab is optional, unless
otherwise stated.
• Exercises — Exercises follow the same header format as Procedures.
Setting Up Pro/ENGINEER for Use with Training Labs

Before you begin a lab from any training course, it is important that you
configure Pro/ENGINEER to ensure the system is set up to run the lab
exercises properly. Therefore, if you are running the training labs on a
computer 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
Scenario
In this exercise, you learn how to use the header to set up the Pro/ENGINEER
working 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 run

the lab exercises properly.
Perform this task only if you are running the labs on a computer
outside 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 path
automatically, 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 same
as 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 can
then navigate easily to the module and topic folders.
Step 2: Close all open windows and erase all objects from memory to
avoid 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 and
set the folder indicated in the header as the Pro/ENGINEER
working directory.
1. Notice the folder indicated in the

header.
2. If necessary, select the tab from
the navigator.
• Click to view the current
working directory folder in the
browser.
• Click Folder Tree to expand
it from the bottom of the
navigator.
• Navigate to the users/stud
ent/Course_Folder/Module
1_Folder/Topic1_Folder by
clicking the + next to each
folder.
3. Right-click the Topic1_Folder
folder and select Set Working
Directory.
4. Click the Topic1_Folder folder
to display its contents in the
browser.
Alternatively you can use the cascading folder path in the

browser to navigate to the topic folder, and then right-click and
select Set Working Directory from the browser.
Step 4: Open the file for this procedure and set the initial datum display
according to the icons shown in the header.
1. Notice the lab model is specified

in the header.
• Double-click extrude_1.prt in
the browser to open it.
2. Notice the initial datum display is
specified 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 header

contained in subsequent procedures.
This completes the procedure.

Module 1
Introduction to the Mechanism Design
Process
Module Overview
This module is an overview of functionality used within Pro/ENGINEER for
the design of complex mechanisms.
In this module, you learn the typical process used to design mechanism within
Pro/ENGINEER and the mechanism design extension. Most companies use
this process; however, your specific company process may differ.
Objectives
After completing this module, you will be able to:
• Understand and describe mechanism design.
• Understand and describe tools available in the Mechanism Design
Extension.
• Understand and describe a typical Pro/ENGINEER mechanism design
process.
© 2011 PTC Module 1 | Page 1

Introduction to Mechanism Design
The Mechanism Design extension enables you to simulate
kinematic motion in your Pro/ENGINEER assemblies.
Mechanism Design Extension (MDX)

enables you to:
• 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 Environment consists
of the:
• Mechanism Tree.
• Motion and Dynamics toolbars. Loader Mechanism
Introduction to Mechanism Design — Theory

The Mechanism Design Extension (MDX) is included in every seat of
Pro/ENGINEER. This module is integrated within the assembly environment
and 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 simulate

gravity, force motors, springs, dampers, and forces/torques. This
functionality will be covered in the Mechanism Simulation using
Pro/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 up
of a Mechanism Tree, which is located under the main model tree, and the
Motion and Dynamics toolbars, located along the right side of the main
window. These toolbars contain icons specific to the Mechanism environment.

Understanding the Mechanism Design Process
The following steps are used in a typical mechanism design
process.
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. Note
that some of these points are optional and the process will vary depending on
the 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 well
as certain tasks in Evaluating results.

Creating the Model
The first step in every mechanism design is to define the
mechanism model.
Creating the Model:
• Create Connections
• Mechanism Bodies
• Motion Axis Settings
The Mechanism Model
Motion Axis Definition Creating a Pin Connection
Creating the Model — Theory

Creating a mechanism model is similar to creating a standard Pro/ENGINEER
assembly, except that you position components using predefined mechanism
connection sets rather than standard assembly constraints. Any components
in the assembly that are constrained together, with no degrees of freedom
between them, are identified as a Body of the mechanism assembly. To
complete the model, you configure motion axis settings of each connection
set, limiting range of motion in connections so they do not fail during an
analysis of the mechanism.
Creating Connections
To create a mechanism assembly, you add components to an assembly
by clicking Insert > Component > Assemble, just as you would create any
assembly in Pro/ENGINEER. When positioning the components, rather than
using standard assembly constraints such as Mate, Align, and Insert, you
select 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 the
right side of the Pro/ENGINEER window. They are not found in the
assembly dashboard with the other mechanism connections.
Mechanism Bodies
Components that are assembled together and have no degrees of freedom
between them are considered single bodies in the mechanism assembly.
You create a Body by fully constraining components using standard
Pro/ENGINEER assembly constraints or by adding the Rigid mechanism
connection set. Components that are grouped as a body will move together
when the mechanism moves.
Defining Motion Axis Settings

After you add connections to place components in the assembly, use
the Motion Axis Settings dialog box to define zero position references, a
regeneration value for Pro/ENGINEER to use when it assembles the model,
and limits on the allowed motion of the connections. By configuring motion
axis settings, you limit the range of motion in a connection so it does not
fail during an analysis.
Motion Axis Settings are also important for defining the design
position of a mechanism, which is the position the assembly will
take when it is placed in other assemblies and drawings.

Verifying the Mechanism
The second step in every mechanism design is to verify that the
connected components move in the manner you intended.
Verifying the Mechanism:
• Reconnect
• Drag Components and
Bodies
Verifying the Mechanism
Verifying the Mechanism — Theory

After you create your model, you verify its motion. This is an important step
because it ensures that the connections produce the desired motion on the
parts 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 toolbar

or Edit > Reconnect. This process is also known as “connecting the
assembly.” If your assembly is already connected, running an assembly
analysis does not move your mechanism.
• Drag — Use to open the Drag dialog box and interactively drag
components of the assembly. Use to study the general nature of how your
mechanism 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 can
then record these configurations as snapshots for later reference.

Adding Servo Motors
Use servo motors to define the mechanism's desired absolute
motion.
You can add servo motors to:
• Motion axes of a connection.

• Geometric entities of a
component.
A Motor Applying Rotational Motion A Motor Applying Linear Motion
Adding Servo Motors — Theory

You add servo motors to specify position, velocity, or acceleration of a
mechanism.
Adding Servo Motors

After you create your model and verify the connections that enable it to
move correctly, you can add servo motors to drive the model's motion. You
use 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 for
interference between bodies. Because a servo motor defines the absolute
rotational or translational motion of a motion axis, the motion axis loses the
degree 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 of
Mechanism Design. The Mechanism Dynamics Option (MDO) is
required to add additional mechanism entities such as gravity, force
motors, springs, dampers, forces, and torques.

Preparing for Analysis of a Mechanism
Define the mechanism's initial position and measures that must
be evaluated during the analysis run.
Prepare for analysis:
• Define initial position.

• Create measures.
Add measures to evaluate:
• Position.
• Velocity.
• Acceleration. Analyzing Position
Analyzing Acceleration
Preparing for Analysis of a Mechanism — Theory

Before performing an analysis on a model, you must prepare for the analysis
by first defining the initial position that the analysis will begin from. It is
also important to define measures that will be evaluated as the mechanism
analysis is run through the defined motion.
Defining the Initial Position

The initial position of a mechanism can be defined by assigning regeneration
values to the motion axis definitions of its connections. Regenerating the
model will then move the mechanism to that defined position. Initial position
can also be defined by using tools in the Drag dialog box.
Creating Measures
You define measures before running an analysis because they are then
evaluated as the mechanism analysis moves the mechanism through
its defined motion. Measures are important because they can help you

understand and analyze the results of moving a mechanism and provide
information that you can use to improve the mechanism's design.
You can create measures to evaluate position, velocity, or acceleration for

points or motion axes in your assembly.

Analyzing the Mechanism
Analyze your mechanism per its defined connections, selected
servo motors, and preferences.
Types of Analysis:
• Position Analysis
• Kinematic Analysis
Define Preferences and Motors: Kinematic Analysis at Initial Position
• Define Preferences
• Lock Bodies
• Define Motors
Kinematic Analysis at Final Position
Analyzing the Mechanism — Theory

An analysis is run on a mechanism by first selecting the type of analysis to
run and then setting the analysis preferences and motors.
Types of Analysis
When analyzing the mechanism, you must select the type of analysis to run.
• Create a Position Analysis — A position analysis enables you to
analyze whether your mechanism can assemble under the requirements
of the applied servo motors and connections. In previous releases of
Pro/ENGINEER, position analysis was also named Repeated Assembly
and Kinematic analysis.
• Create a Kinematic Analysis — A kinematic analysis enables you to
review the motion of your model as imposed by servo motors. You can also
use a kinematic analysis, as the first step in your design process, to locate
interference or points where the assembly analysis fails.
You will also see Dynamic, Static, and Force Balance analysis types
in the Type drop-down list; however, the Mechanism Dynamics
Option (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, you

need to define the preferences of the analysis. These preferences include
the time domain which enables you to determine how Pro/ENGINEER
records motion over time.
• Lock Bodies — You may lock bodies and connections so they remain
fixed during the analysis.
• Define Motors — You can use the motors tabs to enable/disable specific
servo motors.
The external loads tab is disabled unless you have an MDO license
because you cannot simulate external force/torque loads, friction,
or gravity in MDX.

Evaluating Analysis Results
Evaluate the results of your analysis to ensure mechanism
design will function properly.
Analysis Results:
• Analysis Results Playback

• Interference Check
• Measures and Graphs
• Create Trace Curves
• Create Motion Envelopes
View the Mechanism in Motion

Identify Interferences
Evaluating Analysis Results — Theory

After running an analysis, the results of the analysis should be reviewed
to ensure the mechanism will function properly. The results of an analysis
should be reviewed using the following tools:
• Analysis Results Playback — By running an analysis playback, you

can review your mechanism model in motion. You can use the Playbacks
dialog box to save, restore, remove, and export your analysis results. After
you run an analysis, you can save the results as a playback file and run
them in another session.
• Interference Check — You can also run the analysis playback to check
for interferences between moving part models.
• Measures and Graphs — By reviewing measures and generating
graphs, you can determine the position, velocity, and acceleration of your
mechanism models throughout their range of motion.
• Create Trace Curves — A trace curve graphically represents the motion
of a point or vertex relative to a part in your mechanism. Trace curves can
be used to create cam profiles, slot curves, and solid geometry.

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

PROCEDURE - Process Exercise
Objectives
After 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.
Scenario
You have been assigned to assemble and analyze the mechanism of a front
end loader. The components have already been created, it is your job to
assemble 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 to

view the model and make selections.
• Press and hold CTRL, then middle-click and drag upward to zoom
out.
• Press and hold CTRL, then middle-click and drag downward to
zoom 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 mouse
wheel away from you to zoom out, and towards you to zoom in.

5. In the dashboard, click User
Defined to view the drop-down
list of predefined mechanism
constraint sets.
6. Select from the drop-down list.
7. Select the Axis Alignment

references for the Pin
connection.
• Select the cylindrical surface
of the hole in ARM.PRT.
of the hole in GROUND.PRT.
8. Select the Translation references

for the Pin connection.
• Select the near surface shown
on ARM.PRT.
• Select the surface of the far
side of the boss shown on
GROUND.PRT.
9. Click .
10. Click .
BUCKET.PRT, then click Open.

Defined to view the drop-down
list of predefined mechanism
constraint sets.
16. Reorient the model as
required and select the Axis
Alignment references for the Pin
connection.
of the hole in BUCKET.PRT.
17. Reorient the model as required

and select the Translation
connection.
on BUCKET.PRT.
side on ARM.PRT.
18. Click .
19. Press CTRL + D to reorient
the model to the Standard
Orientation.

20. Click .
PISTON1.ASM, then click Open.

Defined.
connection.
• Select the cylindrical
surface of the hole in
M_CYLINDER1.PRT.
of the boss on GROUND.PRT.
After selecting the Axis Alignment references, the piston assembly

may reorient out of your current view. You can move the component
back into view by pressing CTRL + ALT and right-clicking to drag it
back into the view.

on M_CYLINDER1.PRT.
side on GROUND.PRT.
27. Right-click in the graphics area
and select Add Set.

28. In the dashboard, click and
select from the drop-down list.
29. Press CTRL + ALT and
middle-click to move the
PISTON1.ASM in its remaining
degree of freedom and position,
as shown.
references for the Cylinder
connection.
F_CYLINDER1.PRT.
31. Click .
32. Press CTRL + D to reorient the model to the Standard Orientation.
33. Click .
PISTON2.ASMand then click
Open.

Defined.
connection.
M_CYLINDER2.PRT.
of the hole in BUCKET.PRT.
After selecting the Axis Alignment references, the piston assembly

may reorient out of your current view. The component can moved
back into view by pressing CTRL + ALT and right-clicking to drag it
back into the view.

on M_CYLINDER2.PRT.
side on BUCKET.PRT.
40. Right-click in the graphics area
and select Add Set.
41. In the dashboard, click and

select from the drop-down list.
references for the Cylinder
connection.
F_CYLINDER2.PRT.
of 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.

2. In the Graphics window, select
F_CYLINDER1.PRT, the green
cylinder of PISTON1.ASM.
3. Move the mouse to drag the
mechanism through its motion.
4. Click the middle-mouse button to
cancel the movement.
5. In the Graphics window, select

M_CYLINDER2.PRT, the yellow
cylinder of PISTON2.ASM.
6. Move the mouse to drag the
mechanism through its motion.
7. Click in the graphics area to
leave the mechanism in the
position you have dragged it to.
8. Click Close from the Drag dialog
box.
Dragging the mechanism through its motion is one way of verifying

the mechanism. If the connections were not created correctly, the
mechanism would not move as expected.
9. Click Applications > Mechanism.
Notice that the connections created while assembling the

components of the assembly are displayed in Mechanism mode.

10. Click from the main toolbar and
select FRONT.
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 mechanism

has been connected properly.
14. Return the mechanism to its

original position by clicking in the
main toolbar.
15. In the Mechanism tree, expand the Connections node and then the
Joints node.
16. Expand the piston (PISTON1) slider connection, right-click
TRANSLATION AXIS, and select Edit Definition.
17. In the Motion Axis dialog box, edit the Current Position value from 120
to 50 and press ENTER.
Notice that Pro/ENGINEER does not accept the 50 value. A

warning message in the upper-left corner of the screen tells you
that 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) slider
connection, right-click TRANSLATION AXIS, and select Edit
Definition.
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 has
changed the regenerated position of the mechanism.
Step 3: Add servo motors to the mechanism.
1. Click in the background of the

graphics window to de-select any
objects that may be selected.
2. Click in the Mechanism toolbar.
3. Select the Motion Axis (yellow
arrow) from the slider connection
in PISTON1.ASM.
4. In the Servo Motor Definition
dialog box, select the Profile
tab and select Velocity from the
Specification drop-down list.
5. Edit the Magnitude value of A to
6 and press ENTER.
6. Click OK to close the dialog box.

8. Select the Motion Axis (yellow
arrow) from the slider connection
in PISTON2.ASM.
9. Click Flip to change the direction
of the motion axis so it is pointing
upward, as shown.
10. In the Servo Motor Definition
dialog box, select the Profile
tab and select Velocity from the
Specification drop-down list.
11. Select Parabolic from the
Magnitude drop-down list.
12. Edit the value of B to .008 and
press ENTER.
The servo motors you added will be used to drive the mechanism
through its motion, just as the pistons do in a real loader mechanism.
Step 4: Prepare the mechanism for analysis.

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 distance

from the default coordinate system for the selected vertex as the
mechanism goes through its motion.

Step 5: Analyze the mechanism.

2. In the Analysis Definition dialog
box, select Kinematic in the
Type drop-down list.
3. Edit the End Time value from 10
4. Click Run.
6. Click to return the mechanism to
its initial position.
Step 6: Evaluate the analysis results.
1. In the Mechanism tree, expand

the ANALYSES node.
2. Right-click AnalysisDefinitio
n1(KINEMATICS) and select
Run.
dialog box.
4. Press CTRL + D.
5. Right-click AnalysisDefinition1
and select Run.
dialog box.
7. Click Abort from the Error
Assembly Failed ! dialog box.
The second run of the mechanism failed because you did not return
the mechanism to its initial position before running the analysis.
Starting from the end position of the first analysis run caused the
analysis to fail. Setting your mechanism to the initial position before
running 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.
13. In the Measure Results dialog box, select Measure1 and then
AnalysisDefinition1.
Notice that the value 2748.27 was calculated as the maximum

distance between the selected vertex and default coordinate
system.
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 files
from 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 across
the top of the interface.
• Click OK from the Erase Not Displayed dialog box.

Module 2
Creating Mechanism Connections
Module Overview
In this module, you learn to define motion in an assembly by assembling and
configuring components using various predefined mechanism connection
sets.
Objectives
• 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 Bodies
A body is a single component or group of components that
moves as a single body within a mechanism.
Mechanism Bodies:
• A single part or sub-assembly that

moves within the mechanism.
• A group of components that
move as a single body within the
mechanism.
Placement Constraints:
• User-Defined Constraints
• Mechanism Connection Sets
Ground Bodies:
Four Bodies and a Ground
• Components within a mechanism
that do not move.
Creating Mechanism Bodies — Theory

A body is a component or group of components placed in a mechanism using
a predefined connection set. The component or group of components moves
within the mechanism as a single body.
Mechanism Bodies
Pro/ENGINEER automatically defines mechanism bodies based on the
constraints used when positioning components in an assembly. For example,
two parts that are assembled together using constraints (such as Mate and
Insert) and have no remaining degrees of freedom are each grouped as
a single body. If there is a degree of freedom remaining or the parts are
assembled 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 as
such within the mechanism.
In Mechanism mode, you can expand each connection listed in the
Mechanism tree to view the identified bodies of the connection. If you select
a body from the Mechanism tree, the part or group of parts that make up that
body will be highlighted in the graphics area. If you right-click and select Info
> Details, an information window will open and provide information regarding
the 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, and
Insert, or you can use predefined connection sets to define connections such
as Pin and Slider. If you assemble two components using user-defined
constraints, but they are only partially constrained, a connection is assumed.
When assembling components using predefined connection sets, you can

only reference a single body in the assembly and a single body in the
component being placed. When you select the first assembly entity for a
predefined constraint set, you can select reference entities only from the
same body for the remaining constraints of that connection. This is also true
when 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. To
define a ground body, you fully constrain a component with constraints that
reference the default assembly datums or a part or assembly already in the
ground. If you under-constrain the component, it is not placed in the ground
body and is considered a new body.
Features belonging to a mechanism body, but with references to

a grounded component, will remain in position on the body as it is
dragged. The feature position may change however, if the body is
dragged to a new location and regenerated at that location.

Understanding Constraints and Connection Sets
Constraints define the fixed position of a component while
connections constrain the motion of a component.
User-Defined Constraints:
• Assemble components to form

mechanism bodies.
• Also called standard assembly
constraints.
• Includes constraints such as Mate,
Align, and Insert.
Barrel Bolt Assembly
Predefined Connection Sets:
• Assemble components by constraining

motion along axes, planes, and curves.
• Also called mechanism connection sets.
• Includes connections such as Pin,
Cylinder, and Slider.
Understanding Constraints and Connections — Theory

Constraints define the fixed position of a component while connection sets
constrain the motion of a component.
User-Defined Constraints
You use standard constraints to assemble individual models to form bodies in
mechanisms. These bodies act as a single unit and do not move in relation
to one another.
In the barrel bolt assembly shown, the brown base, gold barrel, and four
screws are assembled using user-defined constraints such as Mate and
Insert. These components do not move in relation to one other because they
have been constrained so all degrees of freedom (DOF) are removed. These
components form the ground body of the mechanism.
User-defined constraints were also used to assemble the gray bolt and
handle parts that slide in this mechanism. These two components form the
second body of the mechanism.
User-defined constraints can also be referred to as standard

assembly constraints.

Predefined Connection Sets
Connection sets assemble components by constraining motion along certain
axes, planes, and curves. Components assembled with connections are free
to rotate and/or translate about one another. Pin, Cylinder, Slot, and Planar
are examples of connection sets available in Pro/ENGINEER.
Connection sets are important because they enable you to free certain
degrees of freedom (DOF). Thus, connection sets are not rigid and enable
you to impart realistic motion on your models. In the barrel bolt assembly
shown, a Slot connection set is used to define the motion of the bolt and
handle body as it moves through the mechanism.
Predefined connection sets can also be referred to as mechanism

connection sets.

Understanding Predefined Connection Sets
Predefined connection sets constrain the motion of a component
while 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 in
Pro/ENGINEER. The table displays each connection set type and the
degrees of freedom in the set.
Before selecting a predefined connection set, you must understand how

placement 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 of

degrees of freedom. The Rotation and Translation columns then
break down the allowed motion of the mechanism in those terms.
Using Predefined Connection Sets

Select a predefined connection set from the Predefined Connection Set
list in the Component Placement dashboard in Assembly mode. Use the
connection sets to position components and define movement in your
assembly. 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 Settings
Use motion axis settings to control the movement of component
connections.
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 of
connections in the direction of motion. Motion axis settings are important
because they enable you to limit the range of motion and to define the
regenerated configuration of the model. Motion axis enable you to control the
motion of a model in each degree of freedom. For example, a connection with
three 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 the
position 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 in
family tables, relations, and wherever dimensions are used. This value is
ignored during dragging and analysis operations.
• Zero Position — Sets the dimension controlling the motion of the
connection to be zero, at the components current position.
• Minimum and Maximum Limits — Limit the minimum and maximum
values that can be used to define the motion of a connection. The

component cannot move outside of these limits either by dragging or by
editing the dimension values.
• Dynamic Properties — The Dynamic properties functionality can be used
to set friction and restitution parameters.
Motion axis settings can be set when placing or editing the placement of a
component. Within Mechanism mode, the motion axis of a connection can
be selected in the Mechanism tree or graphics area and its definition can be
edited from the Motion Axis dialog box.
Both the Zero Position and Dynamic Properties functionality require

the Mechanism Dynamics Option (MDO). The buttons to access
these 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 position
of each mechanism assembly. This final design position is the position in
which your mechanism is documented and is often assembled to other
components.
For example, if you dragged the position of a component in the assembly to a

new location and then saved the model, that new position will be propagated
to every drawing and assembly the mechanism is used in. However, you
typically do not want your drawing to change every time the mechanism is
evaluated. The Regen Value parameter can be used to ensure that this does
not happen; each time your mechanism is regenerated, it will return to the
defined regen values assigned to its connections.
The Regen Value can also be used as flexible dimensions when

adding flexibility to a component. This means a regen value can be
set to define the position of the mechanism in a drawing and also be
made flexible when defining varying assembly positions.

Using Rigid Connection Sets
Use the Rigid connection set to fully constrain a component so
that 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 not
move relative to one another. Components connected in such a way become
a single body.
Similar to the User Defined assembly constraint set, a Rigid connection set
uses any valid combination of standard assembly constraints such as Mate,
Align, and Insert to constrain the position of a component. Rigid connections
enable you to group any valid set of assembly constraints into the connection
set. These constraints can be a fully constrained set or a partially constrained
subset.
Motion Eliminated
You cannot use a rigid connection set to connect multiple bodies of a
sub-assembly and still maintain motion in that sub-assembly. When using
a rigid connection to assemble a sub-assembly with Mechanism Design
connections to a master assembly, the sub-assembly will be considered as a
ground body and will lose its internal motion.

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

PROCEDURE - Using Rigid Connection Sets
Scenario
Position a sub-assembly using the Rigid connection sets and observe that
motion 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 click
Open.

Defined and select from the
drop-down list.
5. Select the near surface of
PISTON2.PRT and the
bottom surface of the slot in
RIGID_BRACKET.PRT.
6. In the dashboard, select from the
drop-down list as the offset type.
7. Select the near planar surface

of PISTON2.PRT and the
far surface of the slot in
RIGID_BRACKET.PRT.

9. Select the near planar
surface of PISTON2.PRT
and the near surface of
RIGID_BRACKET.PRT.
11. Click .
Task 2: Rigidly constrain the bottom of the piston sub-assembly.
1. Click and select the red

PISTON1.PRT from the model
tree.
2. Drag the part to observe that the
sub-assembly has maintained its
motion.
3. Middle-click to abort the dragging
and click Close from the Drag
dialog box.
4. In the model tree, right-click

RIGID_PISTON.ASM and select
Edit Definition.
5. In the dashboard, click
Placement and select New
Set from the Placement tab.
6. Select the bottom surface of
PISTON1.PRT and the surface
at the bottom of the slot in
RIGID_BRACKET.PRT.
drop-down list to set the offset
type.
Notice the “Constraints Invalid” message in the dashboard.

Adding a rigid connection to a second component of the
sub-assembly has eliminated the motion of the sub-assembly
so these surfaces cannot be coincident. To assemble this
sub-assembly and maintain its motion, the Weld connection set
should be used.
8. Click from the dashboard and click Yes to confirm.

Using Pin Connection Sets
Use the Pin connection set to assemble a component with only a
rotational 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 so
the component rotates or moves along this axis with one rotational degree
of freedom.
Using Pin Connection Sets

A Pin connection set contains two constraint settings and one rotation axis
setting:
• Axis Alignment — This constraint defines the axis that the component
is 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 alignment
axis. The reference can be a selected datum point, vertex, datum plane, or
planar surface.
• Rotation Axis — This is the rotational motion axis element of the
connection set. You use it to define rotational motion settings for the
connection such as the zero position, regenerated position, minimum
limits, and maximum limits.

PROCEDURE - Using Pin Connection Sets
Scenario
Assemble 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 click
Open.

drop-down list.
5. Select the cylindrical surface
of PIN_BASE.PRT and
the cylindrical surface of
PIN_GEAR.PRT as references
for the Axis Alignment constraint.
6. Select the top surface of

PIN_BASE.PRT and the
surface on the lower lip of
PIN_GEAR.PRT as references
for the Translation constraint.
7. Click .

8. Click and select
PIN_GEAR.PRT.
9. Drag the part through its
remaining degree of freedom,
the rotational degree of freedom.
release the model.
box.
If you drag a component to a new position, that position will be

reflected in referencing assemblies and drawings. Define a fixed
design 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 Edit

Definition.
2. In the main toolbar, click .

Placement. In the Placement
tab, do the following:
• Click Rotation Axis.
• In the graphics area, select
ASM_FRONT.
• In the graphics area, select
datum plane RIGHT from
PIN_GEAR.PRT.
• In the Placement tab, edit the
value of the Current Position
to 90 if necessary and press
ENTER.
• Click to set the Regen value
of the Rotation Axis.
• Select the Enable
regeneration value check
box.

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 has

returned to the regeneration
position you defined in the
previous steps.

Using Slider Connection Sets
Use the Slider connection set to assemble a component with
only a translational degree of freedom.
Slider Connection Sets:

• Rotation – Constraint
• Translation Axis – Motion
Axis
A Slider Connection
Using Slider Connection Sets — Theory

A Slider connection set is used to connect a component to a referenced axis
so the component slides or moves normal to this axis with one translational
degree of freedom.
Using Slider Connection Sets

A Slider connection set contains two constraint settings and one translation
axis setting:
slides along. The reference can be a selected axis, edge, curve, or
cylindrical surface.
• Rotation — This constraint restricts the components rotation along the
axis of alignment. The reference can be a selected datum plane or other
planar surface.
• Translation Axis — This is the translational motion axis element of the
connection set. You use it to define translational motion settings for the

PROCEDURE - Using Slider Connection Sets
Scenario
Assemble 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.

drop-down list.
5. Select the cylindrical surface of
SLIDER1.PRT and the cylindrical
surface of SLIDER2.PRT
as references for the Axis
Alignment constraint.
6. In the dashboard, select the

Placement tab. Notice that the
Axis Alignment constraint has
been defined and the Rotation
constraint is now active.
middle-click to drag the
component in this yet to be
defined, rotational degree of
freedom (DOF).
8. Select the planar surfaces

shown on SLIDER1.PRT and
SLIDER2.PRT as references for
the Rotation constraint.
middle-click to drag the
component again.
Notice that this is no longer
possible since the rotational
DOF has been constrained.

10. Press CTRL + ALT and click (the
left mouse button) to drag the
component again.
Notice that this enables you
to drag the component in the
direction of its motion axis.
11. In the Placement tab, select
Translation Axis.
12. Spin the model as required
and select the planar surfaces
shown on SLIDER1.PRT and
SLIDER2.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, and
press ENTER.
• Select the Maximum Limit check box, edit the value to 425, and
press 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 and
maximum translation limits you defined in the Translation Axis.

release the model.
box.
19. Click .

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

Using Cylinder Connection Sets
Use the Cylinder connection set to assemble a component with
rotational and transitional degrees of freedom.
Cylinder Connection Sets:

Axis
A Cylinder Connection
Using Cylinder Connection Sets — Theory

A Cylinder connection set is used to connect a component to a referenced
axis so the component moves along and rotates about the axis of alignment
with two degrees of freedom.
Using Cylinder Connection Sets

A Cylinder connection set contains one constraint and two motion axis
settings.
slides along. The reference can be a selected axis, edge, curve, or
cylindrical surface.
• Translation Axis — This is translational motion axis element of the
connection set. You use it to define translational motion settings for the

PROCEDURE - Using Cylinder Connection Sets
Scenario
Assemble a component using the Cylinder connection set.
Cylinder cylinder.asm
Task 1: Assemble the component using the Cylinder connection set.

CYLINDER2.PRT, then click
Open.
4. In the dashboard, click User Defined and select from the drop-down
list.
5. In the dashboard, click Placement to open the Placement tab.
The Axis Alignment constraint is active and neither the

Translation Axis or Rotation Axis selections are visible.

of CYLINDER1.PRT and
the cylindrical surface of
CYLINDER2.PRT as references
for the Axis Alignment constraint.
7. If necessary, click Flip in the
Placement tab to orient the small
boss, as shown.

middle-click to rotate the
component to a position, as
shown.
9. Select Translation Axis.

shown on CYLINDER1.PRT and
for the Translation Axis motion.
11. Edit the value of the Current
Position 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.

shown on CYLINDER1.PRT and
for the Rotation Axis motion.
Position to 180 and press
ENTER.
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 select

CYLINDER2.PRT.
24. Drag the part through its motion.
Notice that you cannot drag the component beyond the minimum
and maximum limits.

release the model.
box.
27. Click .
Notice the model has returned to the regeneration position you

defined in the Motion Axes.

Using Planar Connection Sets
Use the Planar connection set to assemble a component with
rotational and transitional degrees of freedom.
Planar Connection Sets:
• Planar – Constraint
• Translation Axis 1 – Motion
Axis
• Translation Axis 2 – Motion
Axis
A Planar Connection
Using Planar Connection Sets — Theory

A Planar connection set is used to connect a component to a referenced
planar surface that the component moves along that plane, with three
degrees of freedom.
Using Planar Connection Sets

A Planar connection set contains one constraint and three motion axis
settings. There are two degrees of freedom in the referenced plane and one
degree of freedom around an axis perpendicular to it.
• Planar — This constraint defines the parallel plane that the component
moves along. The constraint is a single planar mate or align constraint
that can be flipped or offset as required. The reference can be a selected
planar surface or datum plane.
• Translation Axis 1 — This is the first translational motion axis element of
the connection set. You use it to define translational motion settings for
the connection such as the zero position, regenerated position, minimum
• Translation Axis 2 — This is the second translational motion axis element
of the connection set. You use it to define translational motion settings for
the connection such as the zero position, regenerated position, minimum

PROCEDURE - Using Planar Connection Sets
Scenario
Assemble 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.

drop-down list.
5. Select the planar surface at
the top of PLANAR1.PRT and
the bottom of PLANAR2.PRT
as references for the Planar
constraint.
6. Click and from the main toolbar to enable their display.

8. Select Translation Axis 1.

9. In the graphics area, select
datum plane RIGHT and datum
point CONNECT_REF.
11. Select the Enable regeneration
value check box.
12. Select the Minimum Limit check box, edit the value to -28, and
press ENTER.
13. Select the Maximum Limit check box, edit the value to 28, and press
ENTER.

14. Select Translation Axis 2.
datum plane FRONT and datum
point CONNECT_REF.
value check box.
18. Select the Minimum Limit check box, edit the value to -28, and
press ENTER.
19. Select the Maximum Limit check box, edit the value to 28, and press
ENTER.
20. Select Rotation Axis.

21. In the graphics area, select the
datum plane FRONT from both
models.
22. If necessary, edit the value of the
Current Position to 0 and press
ENTER.
value check box.
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 cannot
drag the component beyond the minimum and maximum limits
you have defined.

release the model.
28. Click .

Using Ball Connection Sets
Use the Ball connection set to assemble a component with three
rotational 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 any
direction with three degrees of freedom.
Using Ball Connection Sets

A Ball connection set contains one Point Alignment constraint, three degrees
of freedom, but no motion axis settings.
• Point Alignment — This constraint defines the point that the component
rotates about. The constraint is a single point to point alignment. Select a
datum point or vertex as the alignment references.
• No Motion Axes — This connection set contains no motion axes to
control or limit the rotation about the constraint point. However, as with any
connection, additional connection sets can be added to limit the motion of
the 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 center
of the sphere using the sphere as reference and the At Center
option, as shown.

PROCEDURE - Using Ball Connection Sets
Scenario
Assemble 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.

drop-down list.
both datum points named
BALL_REF.
6. Click to disable their display.

Notice that there are no motion axes to define for the Ball
connection set.
8. Click .
9. Click , select LEVER.PRT and

drag it through its three DOF.
release the model.
11. Click .
Because there is no motion axis control, the model remains in the

position it was placed, even after regeneration.

Using Weld Connection Sets
Use Weld connections to rigidly constrain a sub-assembly, yet
maintain open degrees of freedom in the sub-assembly.
Weld:
• Coordinate System to
Coordinate System
• Fully Constrained
• Maintains Movement
Weld Connections
Using Weld Connection Sets — Theory

Like the Rigid connections set, the Weld connection set is used to connect
two components so they do not move relative to one another. Components
connected in such a way become a single body. Unlike the Rigid connection
set, the Weld connection enables sub-assemblies to be rigidly constrained,
yet it also enables for open degrees of freedom in the sub-assembly to be
maintained.
In the assembly shown, both ends of the piston sub-assembly

are connected with a weld connection. This enables the piston
sub-assembly to maintain its defined motion so it can compress
and expand, as the bracket is flexed. This is not possible when
using the rigid connection set.
Creating a Weld Connection

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

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

PROCEDURE - Using Weld Connection Sets
Scenario
Position a sub-assembly using the Weld connection sets and observe that
motion 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 click
Open.

drop-down list.
5. Select the coordinate system
TOP_WELD_REF from both
models.

Placement and select New
Set from the Placement tab.
7. Select the coordinate system
BOTTOM_WELD_REF from
both models.
8. Click .
The motion defined in the piston sub-assembly enables it to

expand and span the length of the bracket.

Task 2: Verify the connections.

2. Click select the
WELD_PISTON.ASM. Move
it to verify the connection.
3. Observe that there is no
movement because each end of
the piston is fixed with a weld
connection set.
box.
5. In the model tree, expand

WELD_BRACKET.PRT,
right-click Extrude 1, and
select Edit.
6. Edit the dimension 1500 to 1600
and press ENTER.
7. Click .

expand as the bracket changes.
8. In the model tree, expand

WELD_BRACKET.PRT if
necessary, right-click Extrude 1,
and select Edit.
9. Edit the dimension 1600 to 1300
and press ENTER.
10. Click .

compress as the bracket changes.

Using Bearing Connection Sets
Use the Bearing connection set to assemble a component with
four degrees of freedom.
Bearing Connection Sets:
• Point Alignment – Point on

Line Constraint
Axis
A Bearing Connection
Using Bearing Connection Sets — Theory

A Bearing connection set is really a combination of both Ball and Slider
connections with four degrees of freedom. It is used to connect a point to a
referenced axis so the component moves along the axis with one translational
degree of freedom and three rotational degrees of freedom.
Using Bearing Connection Sets

A Bearing connection set contains one constraint and one translation axis
setting.
• Point Alignment — This constraint defines the connection between a

point and axis that the component is aligned to and rotates about. The
point reference can be a datum point or vertex. The second reference can
be an edge, axis, or curve.
• Translation Axis — This defines the component's position along the
alignment 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 of

freedom.

PROCEDURE - Using Bearing Connection Sets
Scenario
Assemble a component using the Bearing connection set.
Bearing bearing.asm
Task 1: Assemble the component using the Bearing connection set.

BEARING2.PRT, then click
Open.

drop-down list.
5. Select the datum point CENTER
and 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, and
press ENTER.
• Select the Maximum Limit check box, edit the value to 185, and
press ENTER.

8. Click .
9. Click and select

BEARING2.PRT.
10. Drag the part through its degrees
of freedom.
release the model.
box.
It seems to be more difficult to control the movement of a

component that contains three DOF when dragging.
Because of the translation axis controls, the component does not
move past the ends of the model.
13. Click .
The model returns to the

Regen value defined in the
translation axis. There is no
axis control for the rotational
degrees of freedom so
the model remains at the
rotation it was dragged to.

Using General Connection Sets
Use the General connection set to create any number of degrees
of freedom in your model.
General Connection Sets:
• One or two constraints.

• Varying translation and
rotational Axis Settings.
• Number and type of
Axis Settings dependent
on number and type of
constraints.
A General Connection
Using General Connection Sets — Theory

When specific predefined connection sets do not adequately define your
mechanism, use the General connection set to create any desired number of
degrees of freedom when connecting your model. After you determine the
number of degrees of freedom, you can create the required type of general
connection by selecting one or two placement constraints in the Placement
dashboard.
After defining the placement constraint or constraints, you will be presented

with a number of axes settings. The type and number of axis settings will
vary, depending on the number and type of constraints that were used to
constrain your model.
Most of the Pro/ENGINEER constraints and relevant references are allowed

for your selection when you define the general connection. However, the
following 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 Sets
Use the Slot connection set to make a point on a component
connect to and follow a 2-D or 3-D trajectory.
Slot Connection Sets:
• Point Alignment – Point on

Line Constraint
• Slot Axis – Motion Axis
A 3-D Slot Connection
Using Slot Connection Sets — Theory

A Slot connection has four degrees of freedom. As the reference point
follows the trajectory, it is free to rotate in the X, Y, and Z directions. Start and
endpoints 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 follow
a 2-D or 3-D trajectory.
Using Slot Connection Sets

A Slot connection set contains one constraint setting and one slot axis setting.
• Point Alignment — This constraint defines the connection between a

point and the trajectory that the point follows. The point reference can be a
datum 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. The
reference can be a selected datum point or vertex.
In the assembly shown, a Cylinder connection is also used so the

barrel of the mechanism will stay on track as the sub-assembly
moves along the slot.

PROCEDURE - Using Slot Connection Sets
Scenario
Assemble 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 click
Open.

drop-down list.
of SLOT_BARREL.PRT and
SLOT_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 curve
shown (there are two small
segments at each end).
10. In the Placement tab, click Slot

Axis.
11. Select the far right endpoint of
the trajectory curve; this is the
zero location.
The model may temporarily

shift out of position. This
will be corrected when the
connection is completed.

value check box.
13. Select the Minimum Limit check
box and select the far right
endpoint of the trajectory curve;
this is the zero location.
14. Select the Maximum Limit
check box and select the far left
endpoint of the trajectory curve.
15. Click .

17. Click and select SLOT_BARREL.ASM.
18. Drag the part through its degrees

of freedom.

release the model.
box.
21. Click .
The model returns to the Regen value defined as the far right
endpoint of the trajectory.

Creating Cam-Follower Connections
Use Cam-Follower connections to create cam and follower
motions in a 2-D plane.
Cam-Follower Connections:
• Cam-Follower Connection
Definition dialog box
• Cam1 and Cam2 Definition
• Cam-Follower Properties
A Cam-Follower Connection
Creating Cam-Follower Connections — Theory

Unlike most connections in Pro/ENGINEER, the Cam-Follower connection is
not found in the assembly dashboard. The Cam-Follower connection tool is
only available in Mechanism mode and is started by either clicking Insert >
Cams or clicking from the mechanism toolbar. The connection is then applied
to a component that has been previously placed in the assembly and is
meant to define the remaining degree of freedom.
While Cam-Follower connections are applied to 3-D models, the connection

is treated as a two-dimensional connection when performing an analysis.
Creating Cam-Follower Connections

In the Cam-Follower Connection Definition dialog box, the following
connection elements are defined:
• In the Cam1 and Cam2 tabs, select the extruded surface or 2-D curve that
defines the profile of the cam. When you select cam surfaces, the surface
normal direction is indicated in the graphics area by a magenta arrow. This
is the cam side to be used for cam contact.
– Autoselect — If you select the Autoselect check box, surfaces for your
cam are automatically chosen after you select the first surface. If there
is more than one possible adjacent surface, you are prompted to select
a 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 normal
direction will be out, and the Flip button is inactive.
– Working Plane — If you select a straight curve or edge, the dialog box
expands, activating the Working Plane collector. Use the selection arrow
to select a point, vertex, planar solid surface, or datum plane to define a
working plane for the cam.
You can select a straight curve or edge for only one of the
two cams.
– Depth Display Settings — If you select a surface, you can use the
following 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 the
Enable Liftoff check box.
– Friction - If you have a Mechanism Dynamics option license, you can
define friction coefficients and a coefficient of restitution for cams with
liftoff.
Tips for Creating Cam-Follower Connections

Keep the following points in mind when defining and using cam-follower
connections:
• Pro/ENGINEER defines cams as extending infinitely in the extrusion
direction.
• A cam-follower connection does not prevent the cam from tipping. When
required, add additional constraints to prevent parts from tipping.
• Each cam can have only one follower. If you want to model a cam with
multiple followers, you must define a new cam-follower connection for
each new pair.
• Try to avoid a design with a connection along a straight line in the working
plane.

PROCEDURE - Creating Cam-Follower Connections
Scenario
Assemble 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 red

CAM_LEVER.PRT.
2. Drag the part to see the
remaining degree of freedom
that will be controlled by the
Cam-Follower connection.
release the model.
box.
5. Access Mechanism mode by clicking Applications > Mechanism

from the main toolbar.
6. Click from the mechanism

toolbar.
7. Press CTRL and select the
four curve segments that define
Cam1, as shown.
8. Click OK from the Select dialog
box when finished.
9. Select the Cam2 tab.

10. Select the bottom, radial surface
of CAM_LEVER.PRT that will
connect to Cam1.
11. Click OK from the Select dialog
box when finished.
12. Click OK to close the
Cam-Follower Connection
Definition dialog box.

13. Click and select the gray
CAM.PRT.
14. Drag the cam-follower
connection through its motion.
release the model.
box.
17. Click .
The regeneration does not cause the model to move because

there is no Motion Axis or Regen Value to define in a
Cam-Follower connection. The initial position of a Cam-Follower
connection must be defined in a servo motor.

3D Contact
3D Contact simulates contact between bodies in
three-dimensional motion.
3D Contact:
• Is based on real material

properties.
• Uses static and sliding friction.
3D Contact
3D Contact
Using 3D Contact you can simulate contact between bodies in
three-dimensional motion. The system includes static and sliding friction in its
calculations, which are based on real material properties such as Poisson's
ratio, Young's modulus, and a damping coefficient. 3D contact can be
defined from a single analytical surface such as a spherical, cylindrical, or
planar surface to multiple other analytical surfaces. Contact can also be
defined from a vertex to other surfaces. The three-dimensional contact is
also active while dragging.
In the figure, 3D contact is used to simulate dropping a rubber cube into a

box to visualize the cube bouncing and rotating, and coming to rest.

PROCEDURE - 3D Contact
Scenario
Edit 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 With

Friction and select No Friction
from the drop-down list.
4. In the dashboard, select the
References tab and do the
following:
• In the Content Reference
2 list, right-click
Surf:F7(REVOLVE_1):TABLE
and select Remove.
5. Click .
Task 2: Insert a new contact.
1. Select Applications >

Mechanism.
2. Select Insert > 3D Contacts.
The 3D Contacts dashboard
appears.
References. In the References
tab, do the following:
• Click in the Contact
Reference 1: field. In the
graphics area, select the left
face of CUBE1.PRT.
• Click in the Contact

References 2: field. In
the graphics area select the
base circle of TABLE.PRT.

4. In the dashboard, select the Contact tab. Verify that Default is listed
for Slide 1 and Slide 2 contact properties.
5. In the dashboard, click No Friction and select With Friction. Input
fields appear for static and kinetic coefficients of friction.
6. Select 0.1 from the drop-down list for both static and kinetic
coefficients of friction.
7. Click .
Task 3: Run the model.
1. In the Mechanisms tree, expand

ANALYSES.
2. Right-click 3D_ contact_dynam
ic(DYNAMICS) and select Run.
Task 4: Playback the model run.
1. In the Mechanisms tree, expand

PLAYBACKS.
2. Right-click 3D_contact_dyna
mic and select Play.
3. The Animate window appears.
Select Play.
4. Click Close.

Creating Generic Gear Connections
Capture any Rotational or Linear relationship using Generic gear
connections.
• 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 Gears

You can create a generic type gear connection to capture any rotational or
linear 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 dynamic
gear 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 set
of components.
You can capture the following motion relationships using generic gears:
• Rotational/Rotational
• Rotational/Linear
• Linear/Rotational
• Linear/Linear

PROCEDURE - Creating Generic Gear Connections
Scenario
Create 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 drag

each of the three gears.
• Notice the right gear
connection is not created
yet.
2. Click Applications >

Mechanism.
• Notice the existing gear
connection.
3. Click .
• Select Generic as the type.
4. Select the pin joint for the lower
center gear, as shown.
• Type 12 for the Diameter.
5. Select the Gear 2 tab.

• Select the pin joint for the
upper right gear.
• Type 46 for the Diameter.
• Click OK.
6. Press CTRL + ALT and drag any
of 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_GEA
RS.ASM.
Mechanism.
3. Click .
4. Select the pin joint on the left
rotational control knob.

• Select the pin joint on the left
indicator needle.
• Click .
6. Select the Properties tab.
• Select User Defined as the
gear ratio type.
• Type 1 for D1.
• Type 2.5 for D2.
• Click OK.
either the knob or the needle.
8. Click.
9. Select the pin joint on the center
indicator needle.

• Select the slider joint on the
center linear control knob.
• Click .
• Click User Defined as the
gear ratio type.
• Type 200 for the ratio.
• Click OK.
either the knob or the needle.
13. Click.
14. Select the slider joint on the right
linear control knob.

• Select the slider joint on the
right indicator.
• Notice User Defined is the
rack ratio type.
• Type 1.2 as the ratio.
• Click OK.
either the knob or the indicator.

Creating Dynamic Gear Connections
Create different types of common gear connections.
• Types
– Spur
– Bevel
– Rack and Pinion
– Worm
• Gear Properties
– Pitch Diameter
Spur Gears
– Pressure Angle
– Helix Angle
– Bevel Angle
– Screw Angle
• Mechanism Analysis
– Kinematic or Dynamic
Bevel Gears
Rack and Pinion Gears

Worm Gears
Creating Dynamic Gear Connections

You can create gear connections in Mechanism mode that utilize
manufacturing tooth angles to determine their motion properties. Properties
such as pitch diameter, pressure angle, helix, bevel, and screw angles
are used to compute motion, as well as kinematic and dynamic analyses.
Dynamic analyses can include reaction forces based on the tooth geometry
at the location where the pitch diameters meet. The system can automatically
calculate 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. You
can also use the User Defined option to manually input both values or
the 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 and
Pinion gears.
• Bevel Angle — Determined automatically for Bevel Gears based on
geometry.
• Screw Angle — Defines the screw angle for worm gears.
• Icon Location — Defines a plane to display and calculate the gear
connection.
Once defined, you can simply press CTRL + ALT to drag gears in
Standard Assembly mode or in Mechanism mode.
You can also click to drag connected components with additional
options, such as creating snapshots.

PROCEDURE - Creating Dynamic Gear Connections
Scenario
Create and explore different gear types.
dyn_gears spur_gears.asm
Task 1: Create a Spur gear connection.

Mechanism.
2. Click .
• Select Spur as the type.
3. Select the pin joint on the smaller
gear.
• Type 100 for the Diameter
and press ENTER.

• Select the pin joint on the
larger gear.
• Type -20 for the helix angle
and press ENTER.
• Click OK.
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 large
crown gear.
• Type 175 for the Diameter
and press ENTER.
• Click .
• Select DTM1 as the icon
location.
5. Click .

• Select the pin joint on the
smaller pinion gear.
• Type -36 for the helix angle
and press ENTER.
• Click OK.
either gear.
• Click .
Task 3: Examine the Rack and Pinion and Worm gear connections.
1. Click .
• Double-click RACK_PINION_
GEARS.ASM.
either gear.
• Click .
3. Click .
• Double-click WORM_GEAR
S.ASM.
either gear.
• Click .

Creating Belt Connections
Create 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 Connections

In Mechanism mode, you create belts in a planar path that connect pulleys
to transmit rotation. Belt length and flexibility can be controlled. Once a belt
connection 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 take
around 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 Modulus
multiplied by cross-section area.)
• Body Definition — Indicates which body is defined as the moving pulley
body versus the stationary carrier body.
You can perform kinematic and dynamic analyses of belts and

pulleys in Mechanism mode.

PROCEDURE - Creating Belt Connections
Scenario
Create a belt and a solid belt part.
belts belt_pulley.asm
Task 1: Create a belt on an existing pulley mechanism.

Mechanism.
2. Click from the mechanism
toolbar.
3. Press CTRL and select
cylindrical surfaces from the
two main pulleys.

cylindrical surface from the idler
pulley.
5. Right-click the belt handle on the

idler pulley and select Flip Belt
Direction.
• Notice the belt now follows a
different path.

6. Type 80 for the E*A value and
press ENTER.
7. Click .
• Type 1250 for the belt length
and 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-click

and select Make Part.
• Type BELT as the Name and
click OK.
• Click Browse.
• Select TEMPLATE.PRT.
• Click Open and OK.
2. Right-click and select Default
Constraint.
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 and
click Open. Click OK.
• Select the belt curve and click .
• Click Window > Activate.

Mechanism.
8. Select the belt, right-click, and
select Edit Definition.
• Type 1200 as the length and
press ENTER.
• Click .
• Click .

Using the Drag and Snapshot Tools
Use the drag and snapshot tools to move and save your
mechanism in various positions.
•
•
• Snapshots
Weld Connections
Using the Drag and Snapshot Tools — Theory

One method of verifying the connections you have made is to drag the
assembly through its range of motion. To drag components through their
motion 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 cursor
location while the rest of the components stay connected to each other.
To quit dragging, you can either middle-click to return the components to their
original position before dragging, or you can click to leave the components at
their current position.
The Drag Dialog Box

Within the Drag dialog box, you can work with the following tools:
• — Click and drag selected edges, points, axes, datum planes, or surfaces
to initiate the dragging movement. This is the default dragging option.
• — Click and drag a selected body. When you drag a body, its position
in the graphics window changes but its orientation remains fixed. If the
assembly requires that a body be reoriented in conjunction with a change
in position, the body will not move at all since the model cannot reassemble
in the new position. Should this happen, try using point dragging instead.
• Snapshots — Use the Snapshots tab to display and create a list of
saved snapshots of the mechanism in varied positions. After you move
the components to the desired location, you can save snapshots of your
assembly in different positions and orientations.

• Constraints — Use the Constraints tab to apply or remove movement
constraints. After you apply a constraint, its name is added to the
constraints list. You can turn the constraints on and off by selecting or
clearing the check box next to the constraint. Use the shortcut menu to
copy, cut, paste, or delete the constraint.
• Advanced Drag Options — Use the Advanced Drag Options tab to access
a set of drag options that enable you to more precisely control your drag
operations. Specific translation and rotation directions can be defined for
a drag operation. These options are only available when in Mechanism
mode.
Creating Snapshots
After you move connected components to a desired position, you can create
snapshots of that particular location in the graphics window. Snapshots
enable you to return the assembly components to a particular position. You
can create multiple snapshots and quickly move the assembly to specific
positions by activating each snapshot. Snapshots can also be used in
drawings.
Use snapshots to save your mechanism in positions you will

frequently return to. For example, positions used in drawings, the
design position, and positions where there is a collision issue you
are working on.
Use the following tools to create and manage snapshots:
• — Take a snapshot of the current mechanism position. Edit that name and
press ENTER to change the name.
• — View the selected snapshot.
• — Add the position of selected components in one snapshot to the
selected snapshot.
• — Update the selected snapshot with the current component positions.
• — Make the selected snapshot available in Drawing mode as an exploded
view.
• — Delete the selected snapshot.
Adding Constraints
Use the Constraints tab to constrain the motion of your mechanism. After
you 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 check
box next to the constraint. Use the shortcut menu to copy, cut, paste, or
delete the constraint.

• — Select two points, two lines, or two planes. The entities remain aligned
during the dragging operation.
• — Select two planes. The planes remain mated during the dragging
operation.
• — Select two planes to orient at an angle to each other.
• — Select a motion axis to specify motion axis position. You can define
multiple constraints for the same motion axis. However, only one can be
enabled 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 value
for 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
Scenario
Use the drag and snapshot tool to manipulate and save the position of your
mechanism.
Drag drag.asm
Task 1: Create a snapshot of the current position.
1. Click Applications > Mechanism from the main menu.

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 return
to 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 the
models react to the dragging of
this body.
3. Click in the graphics area to stop
the movement.
4. In the Drag dialog box,
double-click Design_Position
so the models return to their
original 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 while
dragging.
1. Select the Constraints tab from

the Drag dialog box.
2. Click and select the bottom
surface of DRAG_BASE.PRT
and the top of DRAG_LIFT.PRT
to create a Plane-Plane Mate
constraint.
3. Select DRAG_CLIP.PRT and

drag the model. Notice that
DRAG_BASE.PRT no longer
moves upward but it does spin.
4. Click in the graphics area to stop
the movement.
5. Select the Snapshots tab and
double-click Design_Position.
6. Select the Constraints tab from the Drag dialog box.
Notice that the Plane-Plane Mate constraint is no longer in the

constraint list. Constraints must be saved with a snapshot and
that 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 axis
shown.
12. Edit the Value field to 90 and
press 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 tools
found in the Drag dialog box.
There is an unlimited number of drag, snapshots, and constraints

combinations that can be used to define mechanism positions.
You should spend five minutes experimenting with the various
options, using them to create your own snapshots. Use this time
to get a better understanding for all the functionality in the Drag
dialog box.
1. When finished, click Close from the Drag dialog box.

Module 3
Configuring Motion and Analysis
Module Overview
In this module, you learn basic concepts of servo motors and how they apply
motion to a mechanism. You learn how an analysis is used to run the motion
applied by motors in the mechanism. You learn how to create both geometry
and motion axis type servo motors. You learn how to configure servo motors
and use functions to assign various magnitudes of motion. Finally, you graph
the magnitude of each motor and run an analysis to verify the magnitude of
motion.
Objectives
• 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 Motors
Use servo motors to impose motion on your mechanism.
Driven Entity Types:
• Motion Axis
• Geometry
Motion Types:
• Translational
• Rotational
• Slot Rotation and Translation Motors
Motor Profile Specifications:
• Motion Axis Settings

• Position
• Velocity
• Acceleration
Motion Applied by Servo Motors
Understanding Servo Motors — Theory

Servo motors are used to apply translational or rotational motion to bodies
of a mechanism. They are the driver that moves your mechanism about the
connections you have defined. The motion is defined in terms of position,
velocity, or acceleration.
Driven Entity Types

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

direction of a Pin connection, if a slot connection is selected as the motion
axis, the motion will be along the trajectory of the slot.
• Geometry — The geometry entity type references points, edges, and
planes to define motion direction. You use this type when the motion
direction cannot be defined by a motion axis. There are five different types
of geometry motors.
Creating Servo Motors

The Servo Motor tool is only available in Mechanism mode and started using
one 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 will

have to expand MOTORS and right-click SERVO to select New.
In the Type tab of the Servo Motor Definition dialog box, select a Direction
Entity to define the motor as a Motion Axis or Geometry type motor:
• Motion Axis — This is the default direction entity type. It requires you to
select a motion axis to define the motor's direction of motion. The type of
motion axis selected determines if the motor's motion will be translational
or 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 the
direction of motion.
– Motion Direction — If a point was selected as the Reference Entity, an
additional 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 define
specification for the motor.

• Specifications — Define the type of movement the servo motor will
produce:
– 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 to
specify another Initial Position, clear the Current check box and specify
the value at which the motion should start.
– Initial Velocity — Defines the velocity of the servo motor at the beginning
of 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 functions
you select. The function is used to generate the magnitude of the motor
based on the time period the analysis is run. For example, a translational
Position motor using the Ramp function (q=A+B*t) will move a body 40
units, if A=0, B=10, and the analysis is run for 4 seconds.
– Graph — Enables you to generate and display a graph plotting the
Position, Velocity, and Acceleration generated by your motor over
time. This is a very useful tool for determining how a defined velocity
or acceleration affects the position of a component in a mechanism,
prior to actually running an analysis.

Understanding Analysis Definitions
Use analyses to record and display the motion of your
mechanism over time.
Preferences:
• Analysis Type – Position or

Kinematic
• Graphical Display Settings
• Locked Entities
• Initial Configuration
Motors: Analysis Displayed at Start
• Select Motors to Run

• Start and End Times Per Motor
Analysis Displayed at End
Understanding Analysis Definitions — Theory

After motors have been added to your mechanism model, you must define an
analysis to see the motors run through their defined motion. You configure an
analysis that records and displays the motion generated by selected motors
over a specified time period.
Creating Analysis Definitions

The Analysis tool is only available in Mechanism. You start the Analysis tool
by using one of the following methods:
• Click Analysis > Mechanism Analysis from the main menu.
• Right-click ANALYSES from the Mechanism tree and select New.

Analysis Type
Using the MDX option in Pro/ENGINEER, you can select two types of
analyses:
• Position — You should only use a position type analysis when analyzing
position motors and all geometry motors. The Position analysis jumps
between 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 servo
motors as well as velocity, and acceleration servo motors. The kinematic
type analysis records a smoother motion that can better display changes in
velocity and acceleration.
It is important to know that a Kinematic analysis cannot be used

to 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. These
are MDO type analyses and you cannot run them without an MDO
license.
Graphical Display
You configure Graphical Display settings in the Preferences tab of the
Analysis Definition dialog box. This enables you to determine how
Pro/ENGINEER records motion over time. There are three types of time
domains:
• 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, and
minimum interval.
Locked Entities
You can lock bodies and connections during your analysis run. Locking
bodies or connections fixes the position of one body or connection relative
to another during the defined analysis. Use the icons in the analysis dialog
box 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 your
position or kinematic analysis. There are two options:
• Current Screen
• Snapshot
By default, each analysis starts with the mechanism displayed as the

current screen position, which is the current orientation of the bodies as you
see them on the screen. However, you can set the initial configuration to
establish the snapshot as the initial position. The snapshot captures the
configuration of existing locked bodies and geometric constraints to define
position constraints.
Configuring Motors of the Analysis

In the Motors tab, you can select and configure motors to be run in the
analysis. 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 From
and To cells to be numerical values. For example, in an analysis running
10 seconds, you can edit the first motor to run from 0 to 5, and the second
motor to from 6 to 10.
The run time defined in the analysis is relative. The motion is not
displayed in real time. The actual time it takes to run the motion is
dependent on the complexity of the models as well as computer
speed.

Creating Geometry Servo Motors
Use geometry servo motors to define motion that cannot be
defined 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 — Theory

You use geometry servo motors to define motion on points or planes when
the motion cannot be defined with a motion axis motor. This occurs when
the connections defining your model do not contain axes that define motion
in the direction you want to control.
Servo motors are displayed in the model as a swirling cone shape shown
in this figure.
Creating Geometry Servo Motors

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

In the example shown, the mechanism is connected using two
pin connections. You can control the motion with a rotational
motor referencing the motion axis of these motors. Instead, a
translational geometry motor was added to control the distance
of motion between the top of the clip and a horizontal plane
through the upper pin.
• Plane-Plane Rotation Motor — A plane-plane rotation motor moves a

plane in one body at an angle to a plane in another body. During a motion
run, the driven plane rotates about a reference direction, with the zero
position defined when the driven and reference planes are coincident.
Because the axis of rotation on the driven body remains unspecified, a
plane-plane rotation motor is less restrictive than a motor on a pin or
cylinder connection.
You can use plane-plane rotation motors to define rotations

around a ball connection. You can also define a rotation between
the last body of an open-loop mechanism and the ground.
• Point-Plane Translation Motor — A point-plane translation motor moves

a point in one body along the normal of a plane in another body. The
shortest distance from the point to the plane measures the position value
of the motor.
You cannot define the orientation of one body with respect to the other
using only a point-plane motor. Also note that the driven point is free to
move parallel to the reference plane, and may thus move in a direction
unspecified by the motor. Lock these degrees of freedom using another
motor or connection. By defining X, Y, and Z components of motion on a
point 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 the

same as a point-plane translation motor, except that you define the direction
in which a plane moves relative to a point. During a motion run, the driven
plane moves in the specified motion direction while staying perpendicular
to the point. The shortest distance from the point to the plane measures the
position 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 other
using only a plane-point motor. Also, note that the driven plane is free
to move perpendicularly to the specified direction. Lock these degrees
of freedom using another motor or connection. By defining X, Y, and Z
components of motion on a point with respect to a plane, you can make
a point follow a 3-D curve.
• Point-Point Translation Motor — A point-point translation motor moves a

point on one body in a direction specified by another body. The shortest
distance measures the position of the driven point to a plane that contains
the reference point and is perpendicular to the motion direction. The zero

position of a point-point motor occurs when both the reference and driven
point 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's
specifications are defined.
• Specification — The motor is controlled by Position, Velocity, or
Acceleration.
• Initial Position — You can set the initial position of the motor (but not for
Position motors).
• Magnitude — You can define the magnitude of motion using one of nine
different types, including Constant and Ramp.
• Graph — You can graph the motor's Position, Velocity, and Acceleration.

PROCEDURE - Creating Geometry Servo Motors
Scenario
Create 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.

2. Click from the Mechanism toolbar.
3. Click Geometry in the Servo

Motor Definition dialog box.
• Select the top
planar surface of
GEOM_MOTOR_CLIP.PRT.
• Select datum plane CENTER
as the Reference Entity.
• If necessary, click Flip so that
the direction arrow points up.
• If necessary, click Translation
to set the motion type.
You have just defined a Plane-Plane Translation servo motor. Had

you selected a Point as reference, rather than a plane, an additional
Direction reference would have been required. In the case of a
Plane-Plane motor, the Reference Entity defines both the reference
and 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 the
motor will be 0 mm (q = 0 + 0*0). If the motor is run for 10
seconds, 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-click

Analysis and select New.
2. Notice in the Analysis Definition
dialog box that the Start Time
of the analysis is 0 and the
End Time is 10 (a 10 second
analysis).
3. Select the Motors tab. Observe
that the motor you created has
been placed in the list.
4. Click Run to run the motor.
The motor has moved the clip 60 mm, a translational distance from
datum plane CENTER. Notice that the 10 seconds defined in the
analysis is relative and not shown in real time.

6. Click to return the model to its
initial position.
The model returned to its original position because each of the

model's connections as a motion axis were defined with a Regen
value and the option Enable regeneration value turned on.
The motion axis returns to those values each time the model is
regenerated.

Creating Motion Axis Servo Motors
Use motion axis servo motors to define motion in the direction
of 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 — Theory

You use motion axis servo motors to define a motor with motion in the
remaining degree of freedom contained in a connection. For example,
selecting the motion axis of a Pin connection will create a rotational servo
motor. Selecting the motion axis of a Slider connection will create a
translational servo motor. Selecting a Slot connection will create a servo
motor that drives motion along the direction of the slot.
Servo motors are displayed in the model as swirling cone shapes shown
in this figure.
Creating Motion Axis Servo Motors

To create a motion axis servo motor, in the Type tab of the Servo Motor
Definition 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 Profiles

The Profile tab in the Servo Motor Definition box is where the motor's
specifications are defined:
• Specification — The motor is controlled by Position, Velocity, or
Acceleration.

• Initial Position — You can set the initial position of the motor (but not
for Position motors).
• Magnitude — You can define the magnitude of motion using one of nine
different types such as Constant and Ramp.
• Graph — You can graph the motor's position, velocity, and acceleration.

PROCEDURE - Creating Motion Axis Servo Motors
Scenario
Create a motion axis servo motor to move the mechanism.
Axis_Motor axis_motor.asm
Task 1: Create a translational motion axis motor.

Mechanism from the main
menu.
2. Click from the Mechanism
toolbar.
3. Select the motion axis of the
Slider 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 as
mm/second.
• Initial Position — You have defined the initial position of the
motor 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 motor
will be at 0 mm. If the motor is run for 10 seconds, the motor will
move 15 mm in the direction of the axis.

Task 2: Create a rotational motion axis motor.

toolbar.
2. Select the motion axis of the Pin
connection, as shown.
• Ensure that the units displayed to the right of Velocity are deg/sec.
This verifies that a rotational axis was selected.
• Edit the value of A from 0 to 9 and press ENTER.

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

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

Analyses and select New.
2. In the Type drop-down list, select
Kinematic.
4. Select the Motors tab. Notice
that both motors have been
added to the list.
5. Edit the End value of
ServoMotor1 to 10.
6. Edit the Start value of
ServoMotor2 to 5.
7. Click Run to run the analysis.
The 20 seconds defined in the analysis is relative and not shown

in real time.
9. Click to return the model to its initial position.

Creating Slot Motors
A slot motor can be used to provide greater control of motion of
a slot connection.
A slot motor:
• Acts along the tangent of a slot

connection.
Slot Motor
Creating Slot Motors

A slot motor can be used to provide greater control of motion of a slot
connection. It enables you to place a motor that acts upon the tangent of a
slot connection. You can use any of the available motor profiles, and the slot
motor can be used in both kinematic and dynamic analyses.
In the figure, a slot motor is used to “push” a model around a defined curve
path.

PROCEDURE - Creating Slot Motors
Scenario
Create a slot motor.
Slot simple_slot_followe
r.asm
Task 1: Create a slot motor.

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 as

shown.
• Edit the value of A from 0 to 10.0 and press ENTER.

mm/second.
• Initial Position — You have defined the initial position of the
motor 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 the
motor will be at 0 mm. If the motor is run for 10 seconds, the
motor will move 100 mm along the slot.

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

Analyses and select New. The
Analysis Definition dialog box
appears.
2. In the Type drop-down list, select
Kinematic.
4. Select the Motors tab. Notice
that the motor has been added
to the list.
5. Edit the End value of
ServoMotor1 to 60.
6. Click Run to run the motor.
The 70 seconds defined in the analysis is relative and not shown

in real time.
8. Click to regenerate the model.

Graphing the Magnitude of Servo Motors
Evaluate 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 — Theory

Graphing position, velocity, and acceleration of a motor enables you to
evaluate the motor prior to running an analysis. This enables you to be sure
the specifications you have assigned to the motor produce the desired results.
Creating a Servo Motor Graph

To create a graph of a servo motor, select the Profile tab in the Servo Motor
Definition dialog box of a selected motor. In the Graph area at the bottom of
the dialog box, select any combination of Position, Velocity, and Acceleration
then click . This will generate a graph of the selected magnitudes with respect
to time. By default, the time period graphed is 10 seconds.
The graph will open in a special Graphtool window.
The Graphtool Window

The Graphtool window provides a set of tools that help you view, share, and
configure 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 Motion
Assign constant motion to a servo motor as a magnitude of
position, velocity, or acceleration.
Constant Motion:
• Function: q = A
– q = Position, Velocity, or
Acceleration
– A = Constant Coefficient
• Graph Position, Velocity, and
Acceleration
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 can
specify 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 to
graph the position, velocity, and acceleration of your constant motion motor.
Graphing position, velocity, and acceleration of any motor enables

you to evaluate the motor prior to running an analysis. The graph
will help you determine if the specifications you have assigned to
the motor will produce the desired results.

PROCEDURE - Assigning Constant Motion
Scenario
Assign constant motion to the servo motor.
Constant constant.asm
Task 1: Assign and graph a translational position, constant motion.

2. Click from the main toolbar and select the FRONT view.

MOTORS (and SERVO if
necessary).
4. Right-click ServoMotor1 (POS
- CONSTANT) and select Edit
Definition.
5. Select the Profile tab in the
Servo Motor Definition dialog
box.
This motor provides upward

translational motion of the
base, along the motion axis
shown.
6. Configure the motor as a constant motion motor, with the motion

defined as a magnitude of position:
• Notice that the Specification is set to Position and Magnitude is
set 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 and
Acceleration.
• Click to create a graph of the motor's position, velocity, and
acceleration over time.
The graph indicates the following:

• The position of the motor starts and ends at 15 mm, the
constant 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.

defined as a magnitude of velocity:
• In the Specification drop-down list, select Velocity. Notice that
units 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 and
Acceleration.

• The velocity of the motor is a constant 1.5 mm/sec.
• The position magnitude increases from 0 to 15 mm, over 10
seconds.
• A constant magnitude of velocity produces zero acceleration.
Task 3: Assign and graph a translational acceleration, constant motion.

defined as a magnitude of acceleration:
• In the Specification drop-down list, select Acceleration. Notice
that units are now shown as mm/sec².
• Edit the constant A from 1.5 to .5 and press ENTER.
Velocity.
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 10
seconds.
• The velocity magnitude increases from 0 to 5 mm/sec, over 10
seconds.

3. Click OK to close the Servo Motor Definition dialog box.

4. In the Mechanism tree, expand ANALYSES, right-click
AnalysisDefinition1 (KINEMATICS), and select Run.

Assigning Ramp Motion
Assign ramp motion to a servo motor as a magnitude of Position,
Velocity, or Acceleration.
Ramp Motion:
• Function: q = A + B*t
Acceleration
– B = Slope
– t = time
Acceleration
Graph of Ramp Acceleration, with

Resulting Position and Velocity
Assigning Ramp Motion — Theory

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

PROCEDURE - Assigning Ramp Motion
Scenario
Assign ramp motion to the servo motor.
Ramp ramp.asm
Task 1: Assign and graph a rotational position, ramp motion.


necessary).
- RAMP) and select Edit
Definition.
box.
This motor provides

rotational motion of the
arm, about the axis shown.
6. Configure the motor as a ramp motion motor, with the motion defined
as a magnitude of position:
• Notice that the Specification is set to Position, the default setting
for 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.
Acceleration.

• The position of the motor ramps from 0 to 90 deg, over 10
seconds.
• 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.
as a magnitude of velocity:
units are now shown as deg/sec.
• Edit the slope B to 1.8 and press ENTER.
Acceleration.

• The velocity of the motor ramps from 0 to 18 deg/sec.
• The position magnitude increases from 0 to 90 deg, over 10
seconds.
• Acceleration is a constant 1.8 deg/sec².
Task 3: Assign and graph a rotational acceleration, ramp motion.
as a magnitude of acceleration:
that units are now shown as deg/sec².
• Edit the slope B to .54 and press ENTER.
Velocity.

• The acceleration of the motor ramps up from 0 to 5.4 deg/sec².
• The position magnitude accelerates from 0 to 90 deg, over 10
seconds.
• The velocity magnitude accelerates from 0 to 27 deg/sec,
over 10 seconds.



Assigning Cosine Motion
Assign cosine motion to a servo motor as a magnitude of
Cosine Motion:
• Function:
q = A*cos (360 * t / T + B) + C
Acceleration
– A = Amplitude
– B = Phase
– C = Offset
– T = Period
Acceleration
Graph of Cosine Acceleration, with

Assigning Cosine Motion — Theory

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

PROCEDURE - Assigning Cosine Motion
Scenario
Assign cosine motion to the servo motor.
Cosine cosine.asm
Task 1: Assign and graph a translational position, cosine motion.


necessary).
- COSINE) and select Edit
Definition.
box.

shown.
6. Configure the motor as a cosine motion motor, with the motion defined
as a magnitude of position:
for servo motors.
• Select Cosine (q = A*cos (360 * t / T + B) + C) from the Magnitude
drop-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.
Acceleration.

The graph indicates that the position of the motor starts at 20
mm, then transitions as a cosine down to 0 and back to 20 mm.
Task 2: Assign and graph a translational velocity, cosine motion.
as a magnitude of velocity:
• Edit the phase B to 2 and press ENTER.
• Edit the offset C to 0 and press ENTER.
Acceleration.
The graph indicates that the velocity of the motor starts at 4

mm/sec, transitions as a cosine down to -4 mm/sec and then
back to 4 mm/sec, in the shape of a cosine.
Task 3: Assign and graph a translational acceleration, cosine motion.
• Edit the phase B to 0 and press ENTER.
Velocity.

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



Assigning SCCA Motion
Assign SCCA motion to simulate a cam profile output.
SCCA Motion:
• Function:
Sine Constant Cosine
Acceleration
– 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 specify
the motion only as a magnitude of acceleration.

PROCEDURE - Assigning SCCA Motion
Scenario
Assign SCCA motion to the servo motor.
SCCA scca.asm
Task 1: Assign and graph a translational acceleration, SCCA motion.


necessary).
- SCCA) and select Edit
Definition.
box.
This motor provides

6. Configure the motor as a SCCA motion motor, with the motion defined
• Select SCCA from the Magnitude drop-down list.
• Notice that the Specification is automatically set to Acceleration
and 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 Profile
tab, select the check boxes for
Position and Velocity.
8. Click to create a graph of the
motor's position, velocity, and
The graph indicates the

acceleration as a CAM
profile.
9. In the Graphtool dialog box, click

File > Exit.
10. Click OK to close the Servo
Motor Definition dialog box.

Assigning Cycloidal Motion
Assign cycloidal motion to a servo motor as a magnitude of
Cycloidal Motion:
• Function:
q = L*t/T – L*sin (2*Pi*t/T)/2*Pi
Acceleration
– L = Total Rise
– T = Period
Acceleration
• Enables you to simulate a cam
profile output
Graph of Cycloidal Acceleration
Assigning Cycloidal Motion — Theory

You use a cycloidal function to assign motion to a servo motor. You can

PROCEDURE - Assigning Cycloidal Motion
Scenario
Assign cycloidal motion to the servo motor.
Cycloidal cycloidal.asm
Task 1: Assign and graph a translational position, cycloidal motion.


necessary).
- CYCLOIDAL) and select Edit
Definition.
box.

shown.
6. Configure the motor as a cycloidal motion motor, with the motion

for servo motors.
• Select Cycloidal (q = L*t/T – L*sin (2*Pi*t/T)/2*Pi) from the
• Edit the total rise L to 5 and press ENTER.
• Edit the period T to 2.5 and press ENTER.
Acceleration.
• 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 increases

cyclically from 0 to 20 mm. The velocity and acceleration move
cyclically but begin and end at zero.

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

• Edit the total rise L to .4 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 and
increases cyclically until it reaches 2 mm/sec.
Task 3: Assign and graph a translational acceleration, cycloidal motion.

• Edit the total rise L to .5 and press ENTER.
• Click to create a graph of the motor's cyclical acceleration over
time.
The graph indicates that the acceleration of the motor increases

cyclically from 0 to approximately .9 mm/sec².



Assigning Parabolic Motion
Assign parabolic motion to a servo motor as a magnitude of
Parabolic Motion:
• Function: q = A*t +1/2 B*t²

Acceleration
– A = Linear Coefficient
– B = Quadratic Coefficient
– t = time
Acceleration
Graph of Parabolic Acceleration,

Assigning Parabolic Motion — Theory

You use a parabolic function to assign motion to a servo motor. You can

PROCEDURE - Assigning Parabolic Motion
Scenario
Assign parabolic motion to the servo motor.
Parabolic parabolic.asm
Task 1: Assign and graph a rotational position, parabolic motion.


necessary).
- PARABOLIC) and select Edit
Definition.
box.
This motor provides

6. Configure the motor as a parabolic motion motor, with the motion

for servo motors.
• Select Parabolic (q = A*t +1/2 B*t²) from the Magnitude drop-down
list.
• Edit the linear coefficient A to 1 and press ENTER.
• Edit the quadratic coefficient B to 2 and press ENTER.
Acceleration.

• 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.

units are now shown as deg/sec.
• Edit the quadratic coefficient B to .2 and press ENTER.
Acceleration.

• 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.

that units are now shown as deg/sec².
• Edit the linear coefficient A to .1 and press ENTER.
Velocity.

• 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 Motion
Assign polynomial motion to a servo motor as a magnitude of
Polynomial Motion:
• Function: q = A + B*t + C*t² + D*t³

Acceleration
– B = Linear Coefficient
– C = Quadratic Coefficient
– D = Cubic Coefficient
– t = time
Acceleration
Graph of Polynomial Acceleration,

Assigning Polynomial Motion — Theory

You use a polynomial function to assign motion to a servo motor. You can

PROCEDURE - Assigning Polynomial Motion
Scenario
Assign polynomial motion to the servo motor.
Polynomial polynomial.asm
Task 1: Assign and graph a translational position, polynomial motion.


necessary).
4. Right-click ServoMotor1 (POS -
POLYNOMIAL) and select Edit
Definition.
box.

shown.
6. Configure the motor as a polynomial motion motor, with the motion

for servo motors.
• Select Polynomial (q = A + B*t + C*t² + D*t³) from the Magnitude
drop-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.
Acceleration.

7. Click to create a graph of the
motor's position, velocity, and
The graph indicates the

following:
• The position increases
from 2 to 18 mm.
• Velocity increases from 1
to 2.7 mm/sec.
• Acceleration increases
from .02 to .32 mm/sec².

Like most motion types, polynomial motion can also be defined

as a magnitude of velocity and acceleration.

AnalysisDefinition1 (KINEMATICS) and select Run.

Assigning Table Motion
Assign 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, with

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 can
also 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 time
and the second, magnitude (no header). You can read the table from a text
file or create it in the Servo Motor Definition dialog box.

PROCEDURE - Assigning Table Motion
Scenario
Assign table-defined motion to the servo motor.
Table table.asm
Task 1: Assign and graph a translational position, table-defined motion.


necessary).
- TABLE) and select Edit
Definition.
box.

shown.
6. Configure the motor as a table-defined motion motor, with the motion

for 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.

Task 2: Assign and graph a rotational position, table motion.

necessary).
- TABLE) and select Edit
Definition.
box.
This motor provides

4. Configure the motor as a

table-defined motion motor,
with the motion defined as a
magnitude of position:
• Select Table from the
• Click and double-click
rot_table.tab.
• Click to create a graph of the
motor's position as driven by
the table.
5. In the Graphtool dialog box, click
File > Exit.
7. In the Mechanism tree,
expand ANALYSES,
right-click AnalysisDefinition1
(KINEMATICS) and select Run.

Module 4
Evaluating Analysis Results
Module Overview
In this module, you learn how to evaluate analysis results. You generate
analysis results and then create measures based on those results. You learn
how to evaluate playback results and use the animate dialog box. You also
learn how to check for collisions between moving components. Finally, you
learn how to create motion envelopes.
Objectives
• 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 Analysis
You graph analysis measurements to help you understand and
evaluate 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 — Theory

You graph and export the results of analysis measures to verify and evaluate
the movement of your mechanism.
The Measure Results Dialog Box

You open the Measure Results dialog box by clicking Analysis > Measures or
by clicking from the Mechanism toolbar.
Measures and Results

The Measure Results dialog box provides three functions: to create
measures, to graph the results of selected measures, and to export the result
of a measure to models as a parameter.
• Graph Type — Displays the results of a measure graphed as Measure
vs. 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 one
graph 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 one
or more result sets from previously run analyses. The graph displays a plot
of a different colored curve for each result set.
EM: apparently we are using numerals for all numbers now - helps
reduce # of words to be translated
Along the top of the dialog box, you will find 3 operations that can be
performed on selected measures:
• — Graphs the selected measure based on the selected result set. After
the measure results are complete, the Graphtool window opens. Use the
items on this window to change the display of your graph, print it, or save it
in tabular form.
• — Enables you to use results from a saved analysis run. Select a saved
results file and it will appear in the Result Set area of the dialog box.
• — Click here to create a Pro/ENGINEER parameter from the
selected measure and analysis. The parameter has the name
MDO_<measure_name>. When you first create a parameter from a
measure, it is given the value of the measure at the last time step of the
analysis. The value of the Pro/ENGINEER parameter remains constant
until you update it on the Measure Results dialog box or until you return to
Pro/ENGINEER and change the value. If you create a parameter, and then
rerun an analysis, select the measure and analysis and click to update the
value of the parameter with the value from the new analysis.

Creating Analysis Measure Definitions
Create analysis measures to evaluate and verify your
mechanism.
Measure Definition Dialog Box:
• Type
• References
• Evaluation Method
Measure Definition
Creating Analysis Measure Definitions — Theory

Analysis measures are measurements that are evaluated when a mechanism
analysis is run. You can create measures for specific model entities or for the
entire mechanism. You can also include measures in your own expressions
for user-defined measures.
Creating Measures
You can create measures by clicking from the Measure Results dialog box.
The Measure Results dialog box is opened by clicking Analysis > Measures
or from the Mechanism toolbar.
Measure Types
In the Type area of the Measure Definition dialog box, you can create the
following types of measures:
• Position — Measures the location of a point, vertex, or motion axis during
the analysis.
• Velocity — Measures the velocity of a point, vertex, or motion axis during
the analysis.

• Acceleration — Measures the acceleration of a point, vertex, or motion
axis during the analysis.
• Connection Reaction — Measures the reaction forces and moments
at 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 force
load on a force motor.
• Loadcell Reaction — Measures the load on a loadcell lock during a force
balance analysis.
• Impact — Determines whether impact occurred during an analysis at a
connection limit, slot end, or between two cams.
• Impulse — Measures the change in momentum resulting from an
impact event. You can measure impulses for connections with limits, for
Cam-Follower connections with liftoff, or for Slot-Follower connections.
• System — Measures several quantities that describe the behavior of the
entire system.
• Body — Measures several quantities that describe the behavior of a
selected body.
• Separation — Measures the separation distance, separation speed, and
change in separation speed between two selected points.
• Cam — Measures the curvature, pressure angle, and slip velocity for
either of the cams in a Cam-Follower connection.
• User Defined – Defines a measure as a mathematical expression that
includes measures, constants, arithmetical operators, Pro/ENGINEER
parameters, and algebraic functions.
• Belt — Measures the belt tension and slip for a Belt connection.
• 3D Contact — Measures the contact area, pressure angle, and slip velocity
for a 3D contact connection.
With the MDX option you can only create the Position, Velocity,
Acceleration, Separation, Cam, Belt, 3D Contact measures, and
System and Body measures that do not require mass calculations.
With the MDO option, you can create all of the measure types.
References and Other Options

The references required and options required to create measurements will
vary 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 or

you 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 evaluation
methods. The graph of the measure and the quantity displayed under Value
on the Measure Results dialog box are different for different evaluation
methods.
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 an
analysis. If you define a measure with Maximum, Minimum, Integral,
Average, Root Mean Square or At Time evaluation methods after you run an
analysis, the Status column on the Measure Results dialog box reports “Not
computed” when you select the analysis.

PROCEDURE - Creating Analysis Measure Definitions
Scenario
Create measures to evaluate the mechanism.
Measure measure.asm
Task 1: Create a translational motion axis motor.

Mechanism from the main
menu.
toolbar.
3. Click from the Measure Definition
dialog box.
4. In the graphics area, click the
datum point MEASURE.
5. In the Component drop-down list, select Z-component. Notice the

direction arrow pointing in the Z direction.
6. In the Component drop-down list, select Y-component. This arrow
cannot be seen because the model is covering it.
In the Results Set area of the Measure Results dialog box, there
are 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 translation

present in the first analysis run produces a greater vertical
reach than is seen in the second analysis run.

WITH_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 two
analysis runs are now in session.
12. Click . Notice that the two analysis runs are now also listed in the
Measure Results dialog box.
13. In the Measure Results dialog box, click measure1 and then click
NO_TRANSLATION.
14. Click WITH_TRANSLATION.
The Value listed for measure1 in the dialog box for both analyses
is 52.1564. This is the value at the start point of the analysis
runs, where both have the same value.

NO_TRANSLATION result set
so that both result sets are
selected.
16. With both result sets and
measure1 selected, click .
From the graph you can verify that the measure results from the
WITH_TRANSLATION analysis produce a larger Y-component
result 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 the
analysis to be rerun.
5. Click Close to close the Measure Results dialog box.
6. In the ANALYSES node of the Mechanism tree, right-click

WITH_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 the

Y-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 Results
Use the Animation Playback tool to play and evaluate an analysis
result set.
Playbacks:
• Play
• Restore
• Save
• Remove
• Export
• Motion Envelope
Configure Playbacks:
• Collision Detection Settings

• Movie Schedule
• Display Arrows
Playbacks Dialog Box
Evaluating Playback Results — Theory

You use the Playbacks dialog box to view an analysis result set. You can
also change the display of your result set, check for interference, specify the
amount of time the result set plays, and save it in several different formats.
Opening the Playbacks Dialog Box

You open the Playbacks dialog box using one of the following methods:
• Click Analysis > Playback.
• Right-click PLAYBACKS from the Mechanism tree and select Play.
Using Playbacks Dialog Box Tools

The following tools are available in the Playbacks dialog box:
• — Plays back an analysis and opens the Animate dialog box. Use the
options to control playback speed and direction.

• — Restores a result set. A dialog box opens with a list of previously saved
result set files. Browse and select a saved result set from disk.
• — Saves a results file to disk. A playback file has a .pbk extension. You
can retrieve this file in the current or a later session to play back the results
or calculate measures. The saved file includes all Display Arrows and
Movie Schedule settings.
• — Removes the current results from the session.
• — Exports a result set as a frame file with a .fra extension. You can use
the .fra file to create a motion envelope after you exit Mechanism Design.
Use the Motion Envlp option from Pro/ENGINEER by clicking File > Save a
Copy and selecting Motion Envlp as the file type.
• — Opens the Create Motion Envelope dialog box. This option is available
when you have a result set in the current session, or when you have
restored a .pbk file. Use it to shrinkwrap the swept volume created by
your mechanism during an analysis. Mechanism Design creates a faceted
motion envelope model that represents the full motion of the model, as the
motion 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 the
current session.
• Collision Detection Settings — Specify whether your result set playback
includes collision detection, how much it will include, and how the playback
will display it.
• Movie Schedule — Record start and end times for your playback. To
access these, clear the Default Schedule check box.
• Display Arrows — If you are using an MDO license, you can use this tab
to select measures and input loads that will be graphically displayed with
three-dimensional arrows during playback.

PROCEDURE - Evaluating Playback Results
Scenario
Use the Playbacks dialog box to manage and evaluate an analysis result set.
Playback playback.asm
Task 1: Run and save analyses results.

2. In the Mechanism tree, notice that the PLAYBACKS node contains
no saved or in session analyses.

ANALYSES, right-click
WITH_TRANSLATION
(KINEMATICS), and select
Run.
4. Right-click NO_TRANSLATION
(KINEMATICS) and select Run.
5. Expand the PLAYBACKS node
and notice that both analyses
that were run are now shown in
the node.
Both animations are in

session. They have not
been saved to disk.
6. In the PLAYBACKS node, right-click WITH_TRANSLATION and

select Save.
7. Click Save from the Save Analysis Results dialog box to save the
results.
8. Click from the mechanism toolbar.
• In the Playbacks dialog box, select NO_TRANSLATION from the
Result Set drop-down list.
• Click and then click Save from the Save Analysis Results dialog
box to save the results.
You can use either of these methods to save the results of your
analysis 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 dialog

box, select the result set
WITH_TRANSLATION from the
drop-down list.
2. Click to open the Animate dialog
box.
3. Click and then slide the Speed
bar to the right to increase the
speed of the playback.
4. Click Close to close the dialog
box.
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 .

box.
9. Click and then slide the Speed
bar to the right to increase speed
of the playback.
The animation is now

looping through only the first
3 seconds of the animation.

box.

Understanding the Animate Dialog Box
You can use the animation dialog box to animate analysis
results.
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 you
play back an animation result set.
Animate Controls
The Animate dialog box uses controls similar to a typical music or DVD
player to control animation of the results you are playing. The buttons used
are 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 a
time. The current frame number is displayed below the bar.
• Speed Slide Bar — Slide the bar to adjust the animation speed, left for
slower 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 or
as a series of JPEG, TIFF, or BMP files. The Capture dialog box contains
the 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 animation

is saved as a series of files named <filename_x>, where x is a
consecutive number starting with 1. Click Tools > Time Domain
to change a frame number. Use external animation software to
create an animation from the individual frames.
• Image Size — The default width and height values are the dimensions of
the current graphics window (excluding the timeline and the navigation
pane). These values will not change if you resize the graphics window
while the Capture dialog box is open.
• Lock Aspect Ratio — Select this check box to ensure that the
width-to-height ratio remains the same when you resize the graphics
window.
• Quality — Select the Photorender Frames check box to create a
photorealistic 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 box
and select a video setting from the list. Then configure the compression as
required or accept the default Uncompressed.
Compression settings are only available for AVI files and cannot
be undone once the animation has been captured.
• OK — Click to begin recording.

Checking for Collisions
Drag components or animate analysis results to identify
collisions in a mechanism.
General Collision Detection

Settings:
• No Collision Detection
• Global Collision Detection
• Partial Collision Detection
• Include Quilts
Arm Collides with Body
Collision Identification Settings:
• Ring Message Bell when

Colliding
• Stop Animation Playback on
Collision
Body Collides with Lift
Checking for Collisions — Theory

If you enable collision detection in Pro/ENGINEER, collisions between
moving components will be detected during dragging operations or during
animation of the assembly's analysis results. You can stop movement
when a collision is detected, or continue moving the component and get
a continuous collision view.
Collision Detection Settings

You can access the Collision Detection Settings dialog box by clicking Tools
> Assembly Settings > Collision Detections Settings or by clicking Collision
Detection Settings in the Playbacks dialog box. With these settings, you can
specify whether your result set playback includes collision detection, how
much it will include, and how the playback will display it.
By default, Pro/ENGINEER does not check for collisions between moving

components. You must enable and configure collision detection using the
following general collision detection settings:

• No Collision Detection — This is the default setting. When set, no collision
detection 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 in
the entire assembly and the collision will be identified in accordance with
the optional selected settings.
• Partial Collision Detection — Enables you to specify which components
should be checked for collision. This is especially useful in large
assemblies where performance can be an issue.
• Include Quilts — Select whether surface quilts will be included in the
collision detection process.
Use the following settings to determine how Pro/ENGINEER will notify you
that a collision has been detected:
• Ring Message Bell when Colliding — With this option enabled, a warning
bell sounds upon collision.
• Stop Animation Playback on Collision — With this option enabled, the
playback stops upon collision.

PROCEDURE - Checking for Collisions
Scenario
Check for collisions in the mechanism by dragging components and
animating analysis results.
Collision collision.asm
Task 1: Check for collisions by dragging components.

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.

7. Select and drag the arm of the
assembly so components collide
with one another.
You are now warned of

collisions while dragging by
both the collision detection
sound and the highlighted
interference volume shown
in the graphics area.
8. If necessary, click to return the components to their original

regenerated position.
Task 2: Check for collisions by animating analysis results.

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.

box.
6. Click to start the animation.
The animation stops at the

first frame where a collision
is detected.
7. Click approximately 12 times, so

the animation will step through
each frame where collision is
detected.
The animation will then

continue on until the next
collision is detected.
8. Middle-click and drag to spin the

model during the animation.
box.
10. Click Close from the Playbacks dialog box.

11. If necessary, click to return the components to their original
regenerated position.

Creating Motion Envelopes
Motion envelopes are a faceted model created from the full
motion of a mechanism.
Create Motion Envelope:
• Quality
• Selected Components
• Special Handlings
• Output Format
Motion Envelope from Frame File: Mechanism
• Export Frame (.fra) File

• Save a Copy
Motion Envelope of Mechanism
Creating Motion Envelopes — Theory

A motion envelope is a faceted model that is created from the full motion of
your mechanism during an analysis. You use the motion envelope to evaluate
overall size, packaging restrictions, enclosure requirements, and so on.
Creating a Motion Envelope

You create motion envelops by clicking from the Playbacks dialog box or by
reading an exported frame (.fra) file.
Selecting the opens the Create Motion Envelope dialog box. Select from the
following settings to create a motion envelope using this method:
To use this method, you must have an analysis result set open in
the current session or you must have restored a saved .pbk file.
• Quality Level — In the Quality area, specify the quality level for creating
the 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 from
a low number of facets, and thus have a lower quality representation of the
motion. Using a higher quality level, such as 10, increases the number of
facets and yields a higher-quality representation. Note that higher quality
levels require more computer resources to create.
• Select Components — Select or de-select sub-assemblies, parts, or
bodies in your assembly to include in your motion envelope.
• Special Handling — Depending on your requirements, select or clear the
Ignore Skeletons and Ignore Quilts check boxes.
• Output Format — In the Output Format area of the dialog box, specify one
of 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 the
default 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 motion
envelope. 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. The
benefit of this method is that you can use it outside of Mechanism mode. You
can send a frame file to a user or supplier who does not have access to
Mechanism 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 box
and 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 Type
drop-down list, select Motion Envlp. Then select the frame file that will be
used to create the motion envelope.
• Complete the model using options in Create Motion Envelope dialog box.

PROCEDURE - Creating Motion Envelopes
Scenario
Create motion envelopes representing the analysis result set of the
mechanism.
Envelope envelope.asm
Task 1: Create an envelope from the Playbacks dialog box.

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 later
task.
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 dialog

box when you set the quality level higher than 2.
• Click , press CTRL, and in the model tree, de-select

ENVELOPE_PIN1.PRT and ENVELOPE_PIN2.PRT.
• Click Create.
• In the New File Options dialog box, click OK.

7. Double-click ENVELOPE_EN
V0001.PRT to open the newly
created motion envelope.
Notice that you are no longer in Mechanism mode. This envelope

is a standard Pro/ENGINEER part. In the model tree, you can
see 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 mechanism

assembly.
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 previously

exported.

7. Double-click ENVELOPE_EN
V0002.PRT to open the newly
created motion envelope.
Notice in the model tree that this LW Part type is created

using a Facet feature. It is not a solid feature like the
ENVELOPE_ENV0001.PRT.

Copyright

(formerly Pro/ENGINEER Wildfire 5.0)
Copyright © 2010 Parametric Technology Corporation. All Rights Reserved.

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pending outside of the United States. Contact PTC for further information. 5,771,392/23-June-1998;
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6,308,144/23-October-2001; 6,447,223B1/10-Sept-2002; 6,473,673B1/29-October-2002; PCT
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organization dedicated to making software imaging solutions freely available. ImageMagick is freely
available without charge and provided pursuant to the following license agreement: http://www.im
agemagick.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 license
see http://www.info-zip.org/doc/LICENSE. "Info-ZIP" is defined as the following set of individuals:
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Hudson, 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, Steve
Salisbury, Dave Smith, Steven M. Schweda, Christian Spieler, Cosmin Truta, Antoine Verheijen, Paul
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erved. METIS, developed by George Karypis and Vipin Kumar at the University of Minnesota, can
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rmonkey Charset Detector Saxon-B (http://www.saxonica.com/documentation/conditions/intro.html).
Office Partner Components 1.64 (http://sourceforge.net/projects/tpofficepartner/). Rhino JavaScript
engine, distributed with a form of the Mozilla Public License (MPL). tiff-v3.4-tar.gz - Libtiff File IO
Library version 3.4: (see also http://www.libtiff.org ftp://ftp.sgi.com/graphics/tiff) Used by the imag
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITN
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more details. Copyright © 1995 CERN. "This product includes computer software created and made
available by CERN. This acknowledgment shall be mentioned in full in any product which includes
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aid of Perl Kit, Version 5.0. Copyright © 1989-2002, Larry Wall. All rights reserved. The cad2eda
program utilizes wxWidgets (formerly wxWindows) libraries for its cross-platform UI API, which is
licensed under the wxWindows Library License at http://www.wxwindows.org. ZLib - Compression
library; Copyright 1995-2005 Jean-loup Gailly and Mark Adler; Provided pursuant to ZLib License at
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itchev; Provided pursuant to: STLPort License http://stlport.sourceforge.net/License.shtml. Zip32
- Compression library; Copyright © 1990-2007. Info-ZIP; Provided pursuant to: Info-ZIP License
http://www.info-zip.org/pub/infozip/license.html. Inno Setup - Installer package; Copyright 1997-2007
Jordan Russell; Provided pursuant to Inno Setup License http://www.jrsoftware.org/files/is/license.t
xt. 7-Zip - Compression package; Copyright 1999-2007 Igor Pavlov; Provided pursuant to 7-Zip
License http://www.7-zip.org/license.txt. The implementation of the loop macro in CoCreate Modeling
is based on code originating from MIT and Symbolics, Inc. Portions of LOOP are Copyright 1986 by
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Mechanism Design using Creo Elements/Pro

5.0 (formerly Pro/ENGINEER Wildfire 5.0)

Authored and published using

Welcome to PTC University!

• An innovative learning methodology - PTC’s Precision Learning

• Instructor-led Training (ILT) - The ideal blend of classroom lectures,

• Technical Support (Monday - Friday)

• License Management and Contracts

Precision Learning In The Classroom

• Topics are introduced through a short presentation, highlighting the key

Precision Learning After the Class

As part of the class, you receive additional content in your account:

• A Pro/FICIENCY assessment from the course content that generates a

Mechanism Design using Creo Elements/Pro 5.0

Course Handbook Layout:

Procedure / Exercise Header:

The first module for certain courses is known as a “process

Procedure / Exercise Header

The following items are indicated in the figure above:

1. Procedure/Exercise Name — This is the name of the lab.

5. Model to Open — This is the file to be opened from the working

Setting Up Pro/ENGINEER for Use with Training Labs

• Locate your existing Pro/ENGINEER shortcut.

Step 1: Configure Pro/ENGINEER to ensure the system is set up to run

1. Notice the two icons indicated in the header.

1. Notice the folder indicated in the

Alternatively you can use the cascading folder path in the

1. Notice the lab model is specified

Remember to perform all the above tasks based on the header

This completes the procedure.

© 2011 PTC Module 1 | Page 1

Mechanism Design Extension (MDX)

• Define mechanism connections

Introduction to Mechanism Design — Theory

Using MDX, you can do the following:

The Mechanism Dynamics Option (MDO) is required to simulate

Module 1 | Page 2 © 2011 PTC

© 2011 PTC Module 1 | Page 3

Mechanism Design Workflow:

• Creating the model.

Verifying the Mechanism Adding Mechanism Entities

Understanding the Mechanism Design Process — Theory

• Creating the model.

Module 1 | Page 4 © 2011 PTC

© 2011 PTC Module 1 | Page 5

Creating the Model:

Motion Axis Definition Creating a Pin Connection

Creating the Model — Theory

Module 1 | Page 6 © 2011 PTC

Defining Motion Axis Settings

© 2011 PTC Module 1 | Page 7

Verifying the Mechanism:

Verifying the Mechanism

Verifying the Mechanism — Theory

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

• Reconnect — Run an assembly analysis by clicking from the main toolbar

Module 1 | Page 8 © 2011 PTC

You can add servo motors to:

• Motion axes of a connection.

A Motor Applying Rotational Motion A Motor Applying Linear Motion

Adding Servo Motors — Theory

Adding Servo Motors

You can add servo motors to: