Hello Sila,
The slider movement limits in a ‘prismatic joint’ can be tuned by configuring the following parameters.
- ‘State Targets > Specify Position Target > Priority’ — Priority level of position target
- ‘State Targets > Specify Position Target > Value’ — Position target
- ‘Limits > Specify Lower Limit > Bound’ — Lower bound of free region
- ‘Limits > Specify Upper Limit > Bound’ — Upper bound of free region
The following steps can configure the model to the given example:
- Double-click on the ‘Prismatic Joint 3’ block to open its parameters.
- In the "Z Prismatic Primitive (Pz)" tab under the ‘State Targets’ sub-section, enable "Specify Position Target" and set the ‘value’ to 0 (initial position).
- In the same tab under ‘Limits’, set the following parameters.
- Enable the "Specify Upper Limit" and set the ‘Bound’ to 0 (if 0 is your initial position)
- Enable the "Specify Lower Limit" and set the ‘Bound’ to -0.5 (for downward movement).
Note: Optionally, you can set the "Spring Stiffness" and "Damping Coefficient" parameters to define the behaviour of the joint when it reaches these limits.
Refer to the following MathWorks Documentation to understand more about ‘Prismatic Joint’.
Hope the above information is helpful.
