The Closed Loop Motion script is a complete application that runs within Rocky and enables you to define periodic motion with geometry replication easily.
The Closed Loop Motion script was built to automate the process of creating the replicated geometry motion, it will also generate motion frames with high accuracy.
This script uses a table of circles to define the path of the movement, and there is also a preview panel to visualize it.
This script expects the replicated geometry to be located at the beginning of the movement path, as highlighted in the script preview panel by a red marker.
This script provides a menu with a few options: File, Template and Help, which are shown in the figures below.
Option for File:
Close: This button closes the script.
Options for Template:
Load: This button loads a script setup configuration template that you had saved previously.
Save: This button saves the current script setup configuration in a file as a template.
Tip: This file can be loaded with the Load button..
Option for Help:
Manual: This button opens this manual.
This script has options to be defined in the main panel. The first group is General Options.
Parameters for General options:
Replicated Geometry: This list presents the geometries predefined in the Rocky setup that you can use for replication.
Range: [Available geometries]
Number of Replications: This specifies the number of times your geometry will be replicated.
Range: [Positive value]
Motion Plane: This specifies in which axes the motion will be defined.
Range: [XY, XZ, YZ]
Linear Velocity: This specifies the velocity of the motion path in m/s.
Range: [Positive value]
The second group is Path Data options, where you can set a list of circles that will define the motion path.
This panel has buttons and selection that will help you to define the circles:
Add row: This button creates a new entry row on the table
Duplicate row: This button duplicates a pre-selected entry row on the table.
Move up: This button moves up a pre-selected entry row on the table.
Move down: This button moves down a pre-selected entry row on the table.
Remove row: This button removes a pre-selected entry row on the table.
Unit: This selection enables you to define the unit to be used in the table.
Parameters for Path Data options:
X coordinate: This specifies the x-coordinate of the circle.
Range: [Any value]
Note: This coordinate may change depending on the Motion Plane selection in the General options.
Y coordinate: This specifies the y-coordinate of the circle.
Range: [Any value]
Note: This coordinate may change depending on the Motion Plane selection in the General options.
Radius: This specifies the radius of the circle.
Range: [Positive value]
Rotation: This specifies the circle rotation direction, which can be counterclockwise or clockwise.
Range: [CCW, CW]
In the main window, you also have a Preview panel to visualize the path of movement generated by the entered parameters:
Finally, there is a button in the main window to export the entered parameters to Rocky and generate the desired periodic motion with geometry replication:
