Default Motion:

Number-of-Segments = 4

Motion-Width = 360º

Motion Rise = 90º

Motion-Laws = All 4 are Flexible Polynomial

Notes:

The X-axis is the horizontal axis. You can see its units are degrees.

The Position, Velocity, Acceleration and Jerk graphs are above each other. They are the same motion, but different motion-derivatives. The X-axis is the same for all of the motion graphs.

Segment Names

Selected-Segment - is the segment that you select to edit with the Segment Editor or Blend-Point Editor. TheTypically, the color of the Selected-Segment is RED.

Previous-Segment - is to the left of the Selected-Segment.

Next-Segment - is to the right of the Selected-Segment.

1.Click the Edit toolbar > Active Motion-Settings

If the Y-axis units are not 'degrees' then, to make them 'degrees':

2.Click the Active Motion-Settings > Motion tab > Motion Units separator : Y-axis Position units

3.Select degree in the drop-down box.

Index motions usually have 2 segments. Thus, we must delete two segments from the default motion.

Before we can delete a segment, we must make it the Selected-Segment

1.Click in the motion-graph area above or below the last segment

The RED Selected-Segment is the last segment.

To delete the RED Selected-Segment

2.Click the Blend-Point & Segment Editor toolbar > Delete Segment

See toolbar above:

•The last segment stretches.

•The total Motion-Width does not change; it remains at 360º.

•The first segment becomes the RED Selected-Segment.

We want to delete the last segment.

3.Do again 1 and 2, above.

The motion is to the left.

•There are two segments.

Terminology:

•Period (time period): also applies to a number-of-degrees along the X-axis.

•Index-Period: The number-of-degrees along the X-axis during which the Y-axis is in motion.

•Dwell-Period: The number-of-degrees along the X-axis during which the Y-axis is not in motion.

•Index-Angle: The range of the output motion - in Y-axis units.

The period (X-axis) of each segment, after you delete the segments, are:

•Segment 1: Segment-Width = 90º ( the Index-Period)

•Segment 2: Segment-Width = 270º (the Dwell-Period)

The Motion-Width 90 + 270 = 360º

The angles on the Y-axis are:

•Segment 1: 0-90º (called the index-angle)

•Segment 1: 90-90º (called the dwell)

The Angles on the X-axis:

•Segment 1: Segment-Width = 120º ( the Index-Period)

•Segment 2: Segment-Width = 240º (the Dwell-Period)

The Motion-Width 120 + 240 = 360º.

The angles on the Y-axis:

•Segment 1: 0-120º (called the Index-Angle).

You need to edit the Segment-Width of the segments, but not change Motion-Width.

We can:

•Use the Blend-Point Editor to the move the Blend-Point to the right.

•Use the Segment-Editor to make the first segment longer and then make the last segment shorter.

The best tool to edit the Segment-Width, when we do not want to edit the Motion-Width, is the Blend-Point Editor.

STEP 1.Open the Blend-Point Editor

a)Click: Blend-Point and Segment toolbar > Open Blend-Point Editor.

STEP 2.Make sure the active Blend-Point is #2

1.Use the Previous / Next buttons to move the active Blend-Point to #2

You can see the X-axis position is 90º

General Reminder:

The Blend-Point Editor edits the active Blend-Point.

The active Blend-Point is at the left of the RED Selected-Segment.

STEP 3.Edit the X-axis value

Note: The Blend-Point Editor can  edit the the motion-values  at the left (the start) of the RED Selected-Segment

We can use the spin-box tool to edit the X-axis value of the Blend-Point.

1.Click the bottom arrow-buttons in the spin-box control to increase the Spin-Increment from 1 to 10.

2.Click the top arrow-buttons in the spin-box control to increase X-axis motion-value from 90º to 120º.

Or:

1.Use your keyboard to enter a value in the X-axis data-box (enter 120)

2.Press the Enter key on your keyboard to update to the new value (120)

When you edit the X-axis value of the active Blend-Point, the duration (period) of the Previous- Segment and the RED Selected-Segment change at the same time.

But, importantly, the Motion-Width does not change.

STEP 4.Change the Motion-Law of the last segment (#2) to a Dwell

The default motion-law of each segment is Flexible-Polynomial.

1.Click the last segment so that it becomes the RED Selected-Segment

2.Click the Motion-Law Selector in the Motion toolbar (below the motion plots)

3.Click Dwell to change it from a Flexible-Polynomial to a Dwell motion-law

STEP 5.Change the Motion-Law of the first segment (#1) to a Modified-Sinusoid

1.Click the first segment so that it becomes the RED Selected-Segment

2.Click the Motion-Law Selector in the Motion toolbar (below the motion plots)

3.Select Modified-Sinusoid to change the motion-law from a Flexible-Polynomial to a Modified-Sinusoid motion-law.

IMPORTANT: Click in the graph area (not on the segment) to remove the 'focus' from the Motion-Law selector. Otherwise, if you use your scroll mouse button, you may scroll through the motions! Not good!

STEP 6.Edit the Index-Angle (Y-axis-Values)

If necessary, open the Blend-Point Editor again - see STEP 1

Make sure the Segment #2 is the Selected-Segment - see STEP 2

In the Y-axis values separator, edit the End-Position. We want to increase it from 90 to 120º

1.Click the spin-box of the End-Position - see image to the above

The graphs auto-scale. Thus, look at the Y-axis scale of the Position graph (left of motion graph) to see the change to the motion.

Question: What if you do not change the Motion-Law of the second segment to a Dwell?

Answer: The Position of the active Blend-Point  (at the start of the Selected-Segment) increases, but the Position at the end of the Selected-Segment does not change.

You will need to edit the End-Position of the last segment.

To edit the End-Position of the motion, click the Segment #1