User Manual. Motion Analyzer Software Version 7.00

Transcription

1 User Manual Motion Analyzer Software Version 7.00

2 Important User Information Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales office or online at describes some important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited. Throughout this manual, when necessary, we use notes to make you aware of safety considerations. WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss. ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence. SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present. BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures. IMPORTANT Identifies information that is critical for successful application and understanding of the product. Allen-Bradley, Kinetix, MP-Series, ProposalWorks, Rockwell Automation, Rockwell Software, RSLogix, TechConnect, TL-Series, and Ultra are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.

3 Summary of Changes This manual contains new and updated information. New and Updated Information This table contains the changes made to this revision. Topic Removed the Activation Wizard section. Added Group/Ungroup and Add Drive Group descriptions to the Home Tab section. 16 Updated Power Data, Shunt, and Energy tab examples for the Power Supply/Accessories - Single-axis Drive Systems section. Added Power Supply/Accessories AC/DC Power Sharing Systems (Kinetix 5500 drives) section. 51 Updated the Output Format Selection dialog boxes in the Export to RSLogix 5000 Wizard section. 65 Added new Explorer View examples and updated the Drives Group Node description. 78 Updated the Solution List dialog box example. 209 Added Preferred Product section. 210 Page N/A 46 Rockwell Automation Publication MOTION-UM004B-EN-P - October

4 Summary of Changes Notes: 4 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

5 Preface About This Publication The versatility of Motion Analyzer software lets users of various application complexities and experience levels use one software package to size their systems. This manual is designed to accommodate basic users, advanced users, and everyone in between. Who Should Use This Manual This manual is intended for engineers directly involved in the selecting, sizing, and optimizing of drives and motors or actuators for a motion control system. Conventions Used in This Manual The following conventions are used throughout this manual: Bulleted lists such as this one provide information, not procedural steps. Numbered lists provide sequential steps or hierarchical information. Hyperlinks are embedded throughout this document so that you can easily navigate to and obtain information that is relevant to your particular application. System Requirements Motion Analyzer software requires the following operating conditions. Attribute Computer hardware requirements Operating systems supported Microsoft Office software supported Pentium IV processor 1 GB RAM minimum 1280x800 screen resolution Windows XP - 32 Bit (SP2) Windows XP - 64 Bit (SP2) Windows Vista - 32 Bit Office 2007 Office MB free space in the installation directory.net Framework 2.0 Windows Vista - 64 Bit Windows 7-32 Bit Windows 7-64 Bit Additional Resources Resource These documents contain additional information concerning related products from Rockwell Automation. Download Motion Analyzer software from: Kinetix Motion Control Selection Guide, publication GMC-SG001 Industrial Automation Wiring and Grounding Guidelines, publication Product Certifications website, Comprehensive motion application sizing tool used for analysis, optimization, selection, and validation of your Kinetix Motion Control system. Overview of Kinetix servo drives, motors, actuators, and motion accessories designed to help make initial decisions for the motion control products best suited for your system requirements. Provides general guidelines for installing a Rockwell Automation industrial system. Provides declarations of conformity, certificates, and other certification details. You can view or download publications at To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative. Rockwell Automation Publication MOTION-UM004B-EN-P - October

6 Preface Notes: 6 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

7 Chapter 1 Welcome to Motion Analyzer Software Topic Page Before You Begin Sizing 8 Database Updater Program 8 Welcome to Motion Analyzer 13 Menu Bar and Quick Access Toolbar 14 File Tab 15 Home Tab 16 Graphical View 17 Group View 22 Multiple Profile View 26 Power Supply/Accessories View 29 Preferences Tab 62 Export Import Tab 65 Export to RSLogix 5000 Wizard 65 Bill of Materials (BOM) Tab 76 Help Tab 76 Explorer View 78 Rockwell Automation Publication MOTION-UM004B-EN-P - October

8 Chapter 1 Welcome to Motion Analyzer Software 1.1. Before You Begin Sizing After downloading and starting Motion Analyzer software, you ll want to update the Motion Analyzer database with the latest Allen-Bradley products available for motion control applications. This section steps you through that process. TIP Download Motion Analyzer software from Database Updater Program The Motion Analyzer Database Updater program updates your Motion Analyzer software with the latest database available for the version currently installed on your personal computer. 1. To start the Motion Analyzer database updater program, go to Start>All Programs>Rockwell Automation>Motion Analyzer 7.00> Database Updater. TIP To update the software version, download Motion Analyzer software from The Motion Analyzer Database Updater wizard opens. Table 1 - Database Updater Analysis Attribute Installed Motion Analyzer version Installed database version Indicates the version of Motion Analyzer software currently installed. Indicates the database version currently installed. 2. Click Next. 8 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

9 Welcome to Motion Analyzer Software Chapter 1 The program checks for database updates. If the program finds that you already have the current database installed, the following dialog box opens. 3. Click Finish. Rockwell Automation Publication MOTION-UM004B-EN-P - October

10 Chapter 1 Welcome to Motion Analyzer Software 4. If the program finds that a database update is available, a dialog box opens with the following information: Installed software and database versions Available database version Database download file size Summary of new features and products in the new database 5. Click Update. 10 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

11 Welcome to Motion Analyzer Software Chapter 1 6. If the database updater program detects that your current version of Motion Analyzer software is running, a dialog box opens with the following instructions. 7. If the program finds that a new software version is available, a dialog box opens with the following options: Click the link to download the new version of Motion Analyzer software Click Next to skip the download and just update your current database Rockwell Automation Publication MOTION-UM004B-EN-P - October

12 Chapter 1 Welcome to Motion Analyzer Software 8. When the database updater program begins the update, this dialog box opens. 9. When the database updater program completes the update, this dialog box opens. 10. Click Finish. 12 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

13 Welcome to Motion Analyzer Software Chapter Welcome to Motion Analyzer The Welcome to Motion Analyzer dialog box opens when the software application is launched. Two modes of operation are possible. Figure 1 - Welcome to Motion Analyzer Dialog Box Table 2 - Motion Analyzer Modes of Operation Mode Size and Select Just Quote Intuitive workflow to help size, select, and optimize the motion control system. This mode also creates a bill of materials. Creates only a bill of materials so no sizing input is required. Click either of the New option modes to start a new application or click Browse to open a previously configured application. Rockwell Automation Publication MOTION-UM004B-EN-P - October

14 Chapter 1 Welcome to Motion Analyzer Software 1.2. Menu Bar and Quick Access Toolbar Your Motion Analyzer application file opens and the menu bar appears across the top of the dialog box. Above the menu bar is the Quick Access toolbar. Figure 2 - Size and Select Dialog Box Quick Access Toolbar Menu Bar The Quick Access toolbar provides shortcuts to commonly used functions. These functions include New, Open, Save, and Print. Table 3 - Menu Bar Tab s Options Page File Tab Standard File menu options. 15 Home Tab Most commonly used actions across different views in Motion Analyzer software. Preferences Tab Setting /View user preference option. 62 Export Import Tab All data Export Import functionality. 65 Bill of Materials (BOM) Tab Useful shortcuts for navigating through the Bill of Materials view. 76 Help Tab Standard Help menu options Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

15 Welcome to Motion Analyzer Software Chapter File Tab The File tab is similar to the file menu in many computer applications. Figure 3 - File Tab Options Table 4 - File Tab s (refer to Figure 3) Options New Open Save Save As Recent Files Sample Applications Click New to go to the Welcome dialog box in Motion Analyzer software. Click Open to browse folders and open Motion Analyzer applications. Standard Open functionality. Click to save the running Motion Analyzer application. Standard Save functionality. Click to launch a dialog box, browse to the path on your computer, and save the current application to an.mba file. Click for the list of recently opened applications. You can open one of these applications directly from this shortcut. Lets you open Motion Analyzer sample applications present in the Motion Analyzer installation. Print Print Click to print the application data. Print Preview Click to see a preview of printable application data. Help This is similar to the Help Tab on page 76. Exit Click to close the running application. Rockwell Automation Publication MOTION-UM004B-EN-P - October

16 Chapter 1 Welcome to Motion Analyzer Software Home Tab The Home tab contains five sections. Figure 4 - Home Tab Options Table 5 - Home Tab s Option Views (label 1 in Figure 4) Clipboard (label 2 in Figure 4) Edit (label 3 in Figure 4) Add (label 4 in Figure 4) Tools (label 5 in Figure 4) Used to access the different views available in Motion Analyzer software. Graphical View Click to open the Graphical view on page 17. Group View Click to open the Group view on page 22. Multiple Profile View Click to open the Multiple Profile view on page 26. Power Supply/ Accessories View Click to open the Power Supply/Accessories view on page 29. Identify Your Load Axis View Click to open the Axis view on page 82. System Bill of Materials (BOM) View Click to open the BOM view on page 36. Used to access the Cut, Copy, and Paste functions. Click to perform these functions that are common to many software programs. Used to access these editing functions. Each one works on the entity selected in Explorer hierarchy view. Rename Click to rename the selected entity. Delete Click to delete the selected entity from the application. Sort by Power Click to sort the axes in Drives group for Multi Axis Family application by Axis Power. Sort is valid at the Rack, Group, or IPIM level. Allocate Unallocate Group/Ungroup Allocate the axis from Un-allocate Axes Group to Drives Group. Un-allocate the axis from Drives Group to un-allocate Axes Group. Select multiple axes in Explorer view and click Group to create a Power Sharing Drive Group. This feature is available only for families that support AC and DC power sharing (Kinetix 5500 drives). Select Power Sharing Drive Group in the Explorer view and click Ungroup to ungroup the axes of the selected group. Used to access these add functions. Each one works on the entity selected in Explorer hierarchy view. Add IPIM Add a new IPIM module in the selected Drives Group in Explorer hierarchy view. Add Axis Add a new axis in the Drives Group/Unallocated Group or IPIM based on user s current selection in Explorer hierarchy view. Add Drive Group Add a new Drives Group under the Project node in the Explorer hierarchy view. This feature is available only for families that support AC and DC sharing (Kinetix 5500 drives). Motion Analyzer/SolidWorks Integration is used to launch the SolidWorks Integration wizard. 16 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

17 Welcome to Motion Analyzer Software Chapter Graphical View The Graphical view applies to multi-axis drive families and provides graphical representation of the current (Bulletin 2093 and 2094) power rail and Kinetix 6000M integrated drive-motor system configurations. Figure 5 - Graphical View Example Table 6 - Graphical View Options (refer to Figure 5) Options Page Power Rail View Power Interface Module View Displays the graphical representation of the current Bulletin 2093 or 2094 power rail configuration. Displays the graphical representation of the Kinetix 6000M integrated drivemotor system on the Bulletin 2094 power rail Rockwell Automation Publication MOTION-UM004B-EN-P - October

18 Chapter 1 Welcome to Motion Analyzer Software Power Rail View The Power Rail view displays the graphical representation of the current Bulletin 2093 or 2094 power rail configuration. Figure 6 - Power Rail View Example Table 7 - Power Rail View Options Options Product Rack Summary (label 1 in Figure 6) Image view (label 2 in Figure 6) Module Information (label 3 in Figure 6) Additional Module Information (inside red box) Part Number Total No. of Slots Slots Occupied Displays the selected power rail catalog number. Displays the total number of slots available in the selected power rail. Displays the number of slots currently occupied in the selected power rail. Graphical representation of the power rail with the drive modules and empty slots are displayed along with the selected catalog numbers. Power rail configurations like Axis Slot mapping can be configured using options available in this view. Right-click the modules and choose operations to perform from the menu (refer to Figure 7). Selected Slot Module Part Number Slot Number Axis Name View Axis Un- allocate View Product Guide Refers to the type of the module that is currently selected in the power rail. For example, axis module (AM), integrated axis module (IAM), power interface module (IPIM), or empty slot. Catalog number of the selected drive module. Power rail slot number occupied by the selected drive module. Name you assigned to the axis associated with the selected drive module. Click to launch the Axis view of the axis associated with the selected drive module. Un-allocates the axis associated with the selected drive modules. Click to open the Kinetix Motion Control Selection Guide. The page displayed from the selection guide corresponds to the selected drive module. 18 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

19 Welcome to Motion Analyzer Software Chapter 1 Figure 7 - Operations to Perform Example Additionally, you can click, drag, and drop a module to reposition that module on the power rail (refer to Figure 8). Figure 8 - Drag and Drop Modules to Reposition on Power Rail Rockwell Automation Publication MOTION-UM004B-EN-P - October

20 Chapter 1 Welcome to Motion Analyzer Software Power Interface Module View The integrated drive-motor power interface module (IPIM) mounts to the Bulletin 2094 power rail and connects (daisy-chains) with up to sixteen integrated drive-motor (IDM) units. Figure 9 - Power Rail View Example (Kinetix 6000M integrated drive-motor system) Table 8 - Power Rail View Options (Kinetix 6000M integrated drive-motor system) Options IPIM Summary (label 1 in Figure 9) Image view (label 2 in Figure 9) Selected Slot Module (label 3 in Figure 9) Additional Module Information (inside red boxes) Slot Number Number of Associated Axis Number of Additional Axis Allowed Power rail slot number occupied by the selected IPIM module. Displays the number of axes currently associated with the selected IPIM module. Displays the additional number of axis that can be added in this IPIM module. Graphical representation of the Kinetix 6000M integrated drive-motor system are displayed with the selected catalog numbers. Power rail configurations, like the order of IDM axes, can be configured using options available in this view. Right-click an IDM unit and choose operations to perform from the menu (refer to Figure 10). Selected Slot Module Part Number IDM Position Axis Name View Axis Un- allocate View Product Guide Back to Rack Refers to the type of the module that is currently selected in the power rail. For example, integrated drive-motor unit (IDM) or power interface module (IPIM). Catalog number of the selected unit or module. The position of the selected unit or module, assuming the IDM unit closest to the IPIM module is identified as 1. Name you assigned to the axis associated with the selected IDM unit. Click to launch the Axis view of the axis associated with the selected IDM unit. Un-allocates the axis associated with the selected IDM unit. Click to open the Kinetix Motion Control Selection Guide. The page displayed from the selection guide corresponds to the selected IDM unit. Click to switch back to the power rail view. 20 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

21 Welcome to Motion Analyzer Software Chapter 1 Figure 10 - Operations to Perform Example Additionally, you can click, drag, and drop an IDM unit to reposition that unit in the daisy-chain configuration (refer to Figure 11). Figure 11 - Drag and Drop to Reposition IDM Units Rockwell Automation Publication MOTION-UM004B-EN-P - October

22 Chapter 1 Welcome to Motion Analyzer Software Group View The Group view provides a summary of all the axes associated with the drive group. Additionally, the Group view gives a visual representation of the axis mapping in the power rail for multi-axes drive families. Group view varies depending on the Application mode selected. Refer to Figure 12 and Figure 13 for examples of each. Figure 12 - Group View Example (Select and Size mode) Figure 13 - Group View Example (Just Quote mode) 22 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

23 Welcome to Motion Analyzer Software Chapter 1 There are two areas of interest in the Group view, as illustrated in Figure 14. Figure 14 - Group View Example Table 9 - Power Rail View Options Options Page Power Rail Image (label 1 in Figure 14) Axis Summary Image (label 2 in Figure 14) Power rail image based on the current system configuration. This graphic only applies to multi-axis drive families. Displays a summary of the current axis configurations including drive module and motor/actuator catalog numbers Rockwell Automation Publication MOTION-UM004B-EN-P - October

24 Chapter 1 Welcome to Motion Analyzer Software Power Rail Image The power rail image only applies to multi-axis drive families. In this example, the current configuration of Kinetix 6000 servo drives is shown on an eight-axis Bulletin 2094 power rail. Figure 15 - Bulletin 2094 Power Rail Image Table 10 - Power Rail Slot Example (refer to Figure 15) Option IAM Module (slots 1 and 2) AM Modules (slots 3 5) Empty Slots (slots 6 8) Integrated axis module (IAM) is always the first drive module on the power rail. In this case, the IAM module is a double-wide module, so it occupies two slots. Axis modules (AM) are always right of the IAM module. Empty slots are always to the far right on the power rail and must be occupied by slotfiller modules. 24 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

25 Welcome to Motion Analyzer Software Chapter Axis Summary Image The axis summary images apply to all drive families. In this example, the current configuration of Kinetix 6000 servo drives includes the drive/motor combination featured below. Figure 16 - Axis Summary Bar (servo drive) Table 11 - Axis Summary Example Option Title Band (label 1 in Figure 16) Axis Bar (label 2 in Figure 16) Short-cuts to Axis view (label 3 in Figure 16) Axis Solution Status Icon Warning Icon Axis Name Axis Solution Status icon indicates the status of the selected solution. Axis solution status is defined in Solution on page 208. A warning triangle icon indicates a warning with this axis, which requires your attention. Name of the Axis. Displays information about the selected drive/motor axis or IPIM module. Motor (1) Selected motor catalog number. Drive Gearbox RBM Selected drive module catalog number. Selected gearbox catalog number. Selected RBM module catalog number. Icons are a graphical representation of the selected axis components. Click icons to switch to the corresponding data page in the Axis view. (1) Configure Motor BOM is available for the selected motor. Click to launch the Configure Motor dialog box. In this example, the current configuration includes a Kinetix 6000M power interface module (IPIM). Figure 17 - Kinetix 6000M Power Interface Module IPIM module icon along with the catalog number of the selected IPIM module is displayed in this bar. Click + to access the IPIM child nodes (IDM units). Rockwell Automation Publication MOTION-UM004B-EN-P - October

26 Chapter 1 Welcome to Motion Analyzer Software Multiple Profile View The Multiple Profile view permits viewing profiles of multiple axes simultaneously and defining axes synchronization and offsets among the axes. Figure 18 - Multiple Profile View Example Table 12 - Multiple Profile View Options Options Page Top Band (label 1 in Figure 18) Graph View (label 2 in Figure 18) Lets you define the Time Span to which all graphs should be scaled. Additionally, this view lets you select a subset of the available axes to view. Profiles of all axes are displayed in this section with the shorter profiles being repeated to fit the length of the longest profile Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

27 Welcome to Motion Analyzer Software Chapter Top Band This area lets you define the Time Span to which all graphs should be scaled. Additionally, this view lets you select a subset of the available axes to view. Figure 19 - Top Band of Multiple Profile View Table 13 - Top Band Example Option Modify Time Span (label 1 in Figure 19) Show Axis (label 2 in Figure 19) Sort By (label 3 in Figure 19) Time span is the length of x-axis on which all the profiles are plotted. Use this option to zoomin or zoom-out on the time scale. Enter the minimum and maximum value of the time scale of interest and click Apply to re-plot all graphs to this scale. Select All to display all axes. Select Selected (Change) to choose the axis of interest (refer to Figure 20 for typical dialog box). This option lets you sort the axes in the graph area according to the Slot Number or Axis Name. Figure 20 - Selected Axis Example Rockwell Automation Publication MOTION-UM004B-EN-P - October

28 Chapter 1 Welcome to Motion Analyzer Software Graph View The Graph view displays profiles of all axes with the shorter profiles being repeated to fit the length of the longest profile. Figure 21 - Graph View Example Table 14 - Graph View Options (refer to Figure 21) Option Synchronized with Offset The phase relationship between the various axis profiles in a common DC bus system affects the peak bus current requirement. For example, if all axes accelerate simultaneously, the bus current demand is much greater than if each axis accelerates in turn. From the Synchronized with pull-down menu, choose the random or synchronized operation for each axis. Set at least one axis to Random as the reference axis. Set other axes to be synchronized with the reference axis or Random. The safe setting for system sizing is all Random. In this case the worst case current demand for each axis is automatically lined up by adjusting the phase relationship of the axis profiles. If the phase relationship is known and will not change, the Cycle Profiles should be set up in the correct relationship and Synchronized with set. This relationship is maintained by the system sizing algorithm and may result in a smaller drive being selected. If all axis profiles are the same length and start at their correct respective positions, then the offsets will be zero. Otherwise, the offset may be used to align the profiles correctly. 28 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

29 Welcome to Motion Analyzer Software Chapter Power Supply/Accessories View In Axis view, you matched a drive with your motor. However, if there are power components needed for your application, you ll select them in Power Supply/ Accessories view Power Supply/Accessories - Multi-axis Drive Systems If your drive family is Kinetix 2000, Kinetix 6000, or Kinetix 6200/6500, you ll also need to configure the IAM module and select the appropriate power rail. Figure 22 - Power Supply/Accessories Dialog Box Table 15 - Power Supply/Accessories Tabs (refer to Figure 22) Parameters Page Power Data Tab View regeneration and motoring data for each axis. 30 IAM and Shunt Tab Select drive modules and external shunt resistors for multi -axis systems. 31 IAM Control Power Tab Analysis Tab Energy Tab Configure Power Supply BOM Tab Displays total auxiliary input power, input VA, input current, and power distribution across the axes. These are the installation ratings for the IAM module. Analyze the drive module activity in terms of bus voltage and system current. With this tab, you can also simulate changes to the system parameters. View Input Current values, System Power values, Shunt Power, and Energy Savings Estimates. Configure the bill of materials (BOM) for the power supply after fully sizing the application Rockwell Automation Publication MOTION-UM004B-EN-P - October

30 Chapter 1 Welcome to Motion Analyzer Software Power Data Tab Use the Power Data tab to view regeneration and motoring data for each axis. Table 16 - Power Data Tab Properties (refer to Figure 22) Parameters Axis Histograms Random/Sync Relationship Offset The axis histograms show a multi-axis representation of axis currents including Peak Motoring, Average Motoring, Peak Regenerating, and Average Regenerating. The phase relationship between the various axis motion profiles in a common DC bus system affects the peak bus-current requirement. For example, if all axes accelerate simultaneously (for example, synchronous operation), the bus current demand is much greater than if each accelerates in turn. The pull-down menu lets you choose Random or Synchronized mode for axes operation. At least one axis should be set to Random as the reference axis. Other axes may be set to Synchronized or Random relative to the reference axis. The safe setting for system sizing is all Random. In this case, the worst case current demand for each axis is automatically lined up by adjusting the phase relationship of the axis motion profiles. If the phase relationship is known and will not change, the Cycle Profiles should be set up in the correct relationship and appropriate synchronized set. This relationship is maintained by the system sizing algorithm and may result in a smaller drive being selected. If all axis motion profiles are the same length and start at their correct respective positions at the default time, then the offsets will be zero. Otherwise, a specified time offset may be used to align the motion profiles correctly. 30 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

31 Welcome to Motion Analyzer Software Chapter IAM and Shunt Tab Click Search to automatically configure the IAM and/or shunt module catalog number. Figure 23 - IAM and Shunt Tab Table 17 - IAM and Shunt Tab Properties Parameters IAM & Shunt Selection (label 1 in Figure 23) Utilizations (label 2 in Figure 23) Component Listings of Kinetix Shunts (label 3 in Figure 23) Click Search to configure the IAM module (Kinetix 2000, Kinetix 6000, and Kinetix 6200/6500 drives) based on the selection made in Axis view, and/or an external shunt module, should an existing internal shunt for a given drive be outside its rating. Where multiple external shunts exist, these can be readily chosen by searching for a shunt. Both the drive module and shunt module have automatic and manual selection options. You can manually select a drive or IAM module and the compatible shunt. The manual selection of only one of the two components is also provided. This means that you can have manual drive and automatic shunt selection or vice versa. The drive continuous and peak current utilizations and the shunt continuous current utilization histograms are displayed. Use the forward or backward arrows to scroll through other drive and shunt options. Click the drive module or shunt module catalog number to view their product specifications. This window is available only for the Kinetix multi-axis drive families after a valid IAM module and shunt solution is found. This window displays the shunt resistance, power, and capacitance values for all the components involved in the IAM and shunt module solution. The components may include converter (IAM), all the inverters (AM), shunt module and shunt resistor. The Shunt Protect limit is also shown in order to reflect the shunt power utilization of the component. Rockwell Automation Publication MOTION-UM004B-EN-P - October

32 Chapter 1 Welcome to Motion Analyzer Software IAM Control Power Tab The IAM Control Power tab displays total auxiliary input power, input VA, input current, and power distribution across the axes. These are the installation ratings for the IAM module. Figure 24 - IAM Control Power Tab Table 18 - IAM Control Power Tab Properties Parameters Auxiliary AC Voltage (label 1 in Figure 24) Power Rail Summary (label 2 in Figure 24) Power Rail Details (label 3 in Figure 24) Auxiliary AC Voltage is a user input value. The value can lie within the IAM Control Voltage Range. Refer to the Kinetix Servo Drives Technical Data, publication GMC-TD003, for servo drive power specifications. This view shows the total auxiliary input power, input VA, and input current in a tabular format. This view contains the slots occupied, slot number, drive module, and continuous output power distribution details in tabular format. The IPIM module is available as line item (axis level item) in this view. 32 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

33 Welcome to Motion Analyzer Software Chapter Analysis Tab Click Analysis to conduct detailed analysis of the drive module activity in terms of bus volts and system current, along with the capability of simulating changes to the system parameters. Figure 25 - Analysis Tab Dialog Box Table 19 - Analysis Tab Properties Parameters Simulation Parameters (refer to Figure 25) Zoom Window (refer to Figure 25) Adjust these parameters to observe how changes to the parameters impact the bus voltage and current. Time From/ Voltage From Time Slice Check these boxes to adjust the X- and Y-axis values for the plot. The Time Slice variable sets the time interval for the Analysis display. Because the shunt switching action is modeled during selection, this value needs to be very short to obtain an accurate shunt selection (0.1 ms, for example). However, if the total cycle time is more than a few seconds, the calculation time may become excessive. The time is equal to the longest axis cycle. In the case of a very long length of time, it is suggested that a longer time slice be used for early checks, but a time slice of less 0.1 ms should be used for the final selection. If the time is increased, this error message often appears. This time slice message may also appear as soon as you click Solution on the main taskbar. In this case, clicking Yes or No still takes you to the Solution tab, but if you click No, some pre-calculations are not performed. This time slice message often appears if one of the motion cycles is a cam, which often has very short time segments. In this case, click No to ignore the message. Rockwell Automation Publication MOTION-UM004B-EN-P - October

34 Chapter 1 Welcome to Motion Analyzer Software Energy Tab Click Energy to display the main power supply parameters including Input Current, System Power, Shunt Power and Energy Savings Estimates. 34 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

35 Welcome to Motion Analyzer Software Chapter Configure Power Supply BOM Tab Click the Configure Power Supply BOM tab to complete the bill of materials (BOM) for the Power Supply after fully sizing the application. In this tab, you select options for the power rail, shunt module, filters, circuit breakers, and fuses. Rockwell Automation Publication MOTION-UM004B-EN-P - October

36 Chapter 1 Welcome to Motion Analyzer Software System Bill of Materials (BOM) View Click BOM view to review the entire BOM (bill of materials) for the system and add any additional parts that may be needed. Table 20 - BOM View Tabs Parameters Page Configuration Summary Tab Shows all the axis components in axis order. 37 Software and Accessories Tab Contains the Controllers, Software, and other Accessories to complete your system. Additional Parts Tab Select any additional components. 39 BOM Tab Displays the full bill of materials (BOM) Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

37 Welcome to Motion Analyzer Software Chapter Configuration Summary Tab Click Configuration Summary to display all the axis components and descriptions in axis order. Scroll down to see all the axes. Rockwell Automation Publication MOTION-UM004B-EN-P - October

38 Chapter 1 Welcome to Motion Analyzer Software Software and Accessories Tab Click Software and Accessories to complete your system. To assist in selecting the Sercos cables, click Auto Select to automatically build a set of these cables with the required lengths to link the axes according to their slot configuration. Break-out boards, cables, kits, and various connectors are available to complete cabling from drive to motor. Other components such as connectors, safe-off headers, and line filters for example, are available. 38 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

39 Welcome to Motion Analyzer Software Chapter Additional Parts Tab Click Additional Parts to add any additional components you may need. From the Product Family pull-down menu, choose the Family, Motor Series, and then by component category to reduce the time required to search for motion control components. If you know the catalog number, entering that is the quickest way to find your part. Rockwell Automation Publication MOTION-UM004B-EN-P - October

40 Chapter 1 Welcome to Motion Analyzer Software BOM Tab Click BOM to display the full bill of materials (BOM) in the same section headings as the other tabs. This BOM can be exported to Microsoft Word or Microsoft Excel software by clicking the appropriate button. 40 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

41 Welcome to Motion Analyzer Software Chapter Power Supply/Accessories - Integrated Drive-Motor (IDM) Systems The integrated drive-motor (IDM) power interface module (IPIM) is effectively a power management module for the DC link to a group of individual IDM units, but to the 2094 power rail it looks like an axis module. Each IPIM module can handle up to 16 axes, with certain limitations. Table 21 - IPIM Module Configuration Options Page Power Data Tab View regeneration and motoring data for each IDM unit. 41 IPIM Module Selection Tab Lets you select the IPIM module. 42 Cable Length Tab Control Power Tab Configure IPIM Module BOM Tab Power Data Tab Click the Power Data tab to view regeneration and motoring data for each IDM unit. Figure 26 - Power Data Tab Cable selection for connecting IPIM module-to-idm unit and IDM unit-to-idm unit. Bar graph for control power Summary view Details view Configure the bill of materials (BOM) for the power supply after fully sizing the application Rockwell Automation Publication MOTION-UM004B-EN-P - October

42 Chapter 1 Welcome to Motion Analyzer Software Table 22 - Power Data Tab s Options Label 1 in Figure 26 IDM Axis view (label 2 in Figure 26) Back to Power Rail (label 3 in Figure 26) Name of the power rail and selected IPIM module slot is displayed here. Click the power rail name label switches the view from IPIM view to Power Rail - Power Supply view. Summary of the all IDM units associated with the selected IPIM module along with the Axis Motoring Bus Current and Axis Regenerating Bus Current values of each IDM unit. Click to switch the view from IPIM view to Power Rail - Power Supply view IPIM Module Selection Tab Click the IPIM Module Selection tab to select an IPIM module. Figure 27 - IPIM Selection Tab Table 23 - IPIM Selection Tab s Options Selection mode (label 1 in Figure 27 Utilizations (label 2 in Figure 27) Automatic Manual Current Selection Search IPIM DC Bus Current RMS Limit DC Bus Current Instantaneous Limit Select Automatic for Motion Analyzer software to search for the best IPIM module solution for the selected slot. Select Manual to manually select the IPIM module. Displays the selected IPIM module catalog number. Search button is disabled because only one catalog number is available. Arrows provide the means to scroll forward/backward to smaller/larger IPIM module catalog numbers. Graphical representation of DC bus current rms limit for the selected IPIM module. Graphical representation of DC bus current instantaneous limit for the selected IPIM module. 42 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

43 Welcome to Motion Analyzer Software Chapter Cable Length Tab Click the Cable Length tab to select cables for connecting IPIM module-to-idm unit and IDM unit-to-idm unit. Figure 28 - Cable Length Tab Table 24 - Cable Length Tab s Options IDM Cables (label 1 in Figure 28 IDM System Graphic (label 2 in Figure 28) From the Cable Length pull-down menus, choose the appropriate cable length for connecting IPIM module-to-idm unit and IDM unit-to-unit. The maximum cable lengths in an IDM system are specified as 25 m (82 ft) IDM unit-to-idm unit and 100 m (328 ft) total cable length. Cable For Cable Length Total Length Specifies the modules the cables will join. Specifies the cable length. Specifies the total length of the cables. Graphical representation of IPIM module, associated IDM units and joining cables. Cable length is displayed over the cables. Rockwell Automation Publication MOTION-UM004B-EN-P - October

44 Chapter 1 Welcome to Motion Analyzer Software Control Power Tab Click the Control Power tab for utilization views and to select the number of sensor inputs and outputs. Figure 29 - Control Power Tab Table 25 - Control Power Tab s Options Utilizations (label 1 in Figure 29 Selection for Control Power Usage (label 2 in Figure 29) Detailed View (label 3 in Figure 29) Control Power Total IPIM Summary view This bar graph displays the percentage of power utilized by all IDM units to the maximum power that can be supplied by IPIM module. Displays the sum of power utilized by all the IDM units. Displays the maximum power that can be supplied by the selected IPIM module. From the pull-down menu, choose the quantity of each of I/O Sensor. Summary view displays the control power usage and control voltage for each IDM unit. Click the Details arrow (refer to Figure 30) to display complete information for each IDM unit. This table is hidden by default. Figure 30 - Control Power Tab (details arrow) 44 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

45 Welcome to Motion Analyzer Software Chapter 1 Figure 31 - Control Power Tab (details revealed) Configure IPIM Module BOM Tab Click the Configure IPIM Module BOM tab to select hybrid and network cables, and other IDM system accessory items. Figure 32 - Configure IPIM Module BOM Tab Table 26 - Configure IPIM Module BOM Tab s Options Step 1 (Figure 32) IPIM module IPIM module selected on the IPIM Module tab is displayed here. Step 2 (Figure 32) Hybrid cables Hybrid cable lengths selected on the Cable Lengths tab are displayed here. Step 3 (Figure 32) Network cables Network cables can be routed with the hybrid cables, so network cable lengths should be the same as the hybrid cable. The IPIM-to-IDM1 cable must have a straight connector to the IPIM module. Step 4 (Figure 32) Hybrid coupler The hybrid coupler connects between two hybrid cables, to bypass an IDM unit. Step 5 (Figure 33) Network bulkhead adapter Figure 33 - Configure IPIM Module BOM Tab Use the network bulkhead adapter for securing network cables as they pass through the cabinet. Rockwell Automation Publication MOTION-UM004B-EN-P - October

46 Chapter 1 Welcome to Motion Analyzer Software Power Supply/Accessories - Single-axis Drive Systems If your drive family is single axis, for example, Kinetix 300, Kinetix 350, Kinetix 3, or Ultra 3000, Ultra5000, and Ultra1500, you must configure a shunt or specify no shunt required. Figure 34 - Power Supply/Accessories Dialog Box Table 27 - Power Supply/Accessories Tabs (refer to Figure 34) Parameters Page Power Data Tab View the regeneration and motoring data for each axis. 47 Shunt Tab Select the external shunt resistors for single-axis systems. 47 Analysis Tab Analyze the drive module activity in terms of bus voltage and system current. With this tab, you can also simulate changes to the system parameters. Energy Tab View input current values and energy savings estimates for each axis. 49 Configure Power Supply BOM Tab Configure the bill of materials (BOM) for the power supply after fully sizing the application Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

47 Welcome to Motion Analyzer Software Chapter Power Data Tab Use the Power Data tab to view regeneration and motoring data for each axis. Table 28 - Power Data Tab Properties (refer to Figure 34) Parameters Axis Histograms The axis histograms show a multi-axis representation of axis currents including Peak Motoring, Average Motoring, Peak Regenerating, and Average Regenerating Shunt Tab Click Search to automatically configure the shunt module catalog number for each axis. Figure 35 - Shunt Tab Table 29 - Shunt Tab Properties Parameters Shunt selection (refer to Figure 23) Continuous Current utilization bar (refer to Figure 23) Click Search to configure external shunts if an existing internal shunt for a given drive is outside its rating. If you need more than one external shunt, click search to select multiple shunt modules. You can also select a compatible shunt manually. The drive continuous and peak current utilizations and the shunt continuous current utilization histograms are displayed in percentage form. Click the drive module or shunt catalog number to view its product specification. Rockwell Automation Publication MOTION-UM004B-EN-P - October

48 Chapter 1 Welcome to Motion Analyzer Software Analysis Tab Click Analysis to display plots of drive module activity in terms of the DC bus voltage and DC bus current: The red line is the bus voltage trip point. The green line is the DC bus voltage. The grey line is the bus current. Figure 36 - Analysis Tab Dialog Box Table 30 - Analysis Tab Properties Parameters Simulation Parameters (1) (refer to Figure 25) Zoom (refer to Figure 25) Shunt On Shunt Off Trip Resistance Power Capacitance Time From/ Voltage From Time Slice The voltage level where the shunt enables. The voltage level where the shunt turns off. The voltage level where the drive trips on an overvoltage fault by changing the trip volts. The shunt resistance level in ohms. Changing the power value modifies how much energy the shunt resistor can dissipate continuously. Changing the capacitance value changes the DC bus capacitance. Check these boxes to adjust the X- and Y-axis values for the plot. Click Plot to implement these changes. The Time Slice variable sets the time interval for the Analysis tab. Because the shunt switching action is modeled during selection, this value needs to be very short to obtain an accurate shunt selection (0.1 ms, for example). However, if the total cycle time is more than a few seconds, the calculation time may become excessive. The time is equal to the longest axis cycle. (1) Click Apply to implement these changes. 48 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

49 Welcome to Motion Analyzer Software Chapter 1 If the time slice variable is increased, this error message often appears. This time slice message may also appear as soon as you click Solution on the main taskbar. In this case, clicking Yes or No still takes you to the Solution tab, but if you click No, some pre-calculations are not performed. This time slice message often appears if one of the motion cycles is a cam, which often has very short time segments. In this case, click No to ignore the message Energy Tab Click the Energy tab to display the main power supply parameters including input current, cost of system energy, and cost of shunt energy. Rockwell Automation Publication MOTION-UM004B-EN-P - October

50 Chapter 1 Welcome to Motion Analyzer Software Configure Power Supply BOM Tab Click the Configure Power Supply BOM tab to complete the bill of materials (BOM) for the Power Supply after fully sizing the application. In this tab, you select options for the shunt module, filters, circuit breakers, and fuses. 50 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012

51 Welcome to Motion Analyzer Software Chapter Power Supply/Accessories AC/DC Power Sharing Systems (Kinetix 5500 drives) If your drive family is Kinetix 5500, you must define a valid power sharing configuration and then configure a shunt and capacitor, or specify if no shunt or capacitor are required. Figure 37 - Power Supply/Accessories Table 31 - Power Configuration Options (refer to label 1 in Figure 37) Parameters Power Configuration options (label 1 in Figure 37) Axes sharing AC/DC (label 2 in Figure 37 DC Sharing AC Sharing Only Use this option for shared AC/DC or common bus configuration. The following restrictions are imposed on the number of drives allowed in common bus, or shared AC/DC configuration, based on the converter capacity and/or connectors: Single phase operation is not allowed. The bus master drive or drives with an AC connection should have the same power rating (catalog number). The bus master drive or drives should always have a rating equal to, or greater than, the followers. The number of bus master drives cannot exceed the following rule: Frame 3 = two drives; Frame 2 = four drives; Frame 1 = eight drives. The number of follower drives is driven by the frame of the master drive or drives, and cannot exceed this rule: Frame 1 drive = only four more bus followers can be added; Frame 2 drive = only six more bus followers can be added. Converter power output should be reduced by 30% of the sum of the individual converter power capacities of drives configured for shared AC/DC. The maximum number of drives in a bus power sharing group is eight drives. 3-phase AC input power can be shared among drives with the same power rating. No DC bus connections are allowed in this configuration. AC power sharing allows you to minimize the system components, such as circuit breakers and fuses. The following limitations apply when drives are configured for sharing AC input power: Single-phase operation is not allowed. All drives must be configured for the same converter voltage rating. Drives with the same power rating (catalog number) can be used for this configuration. The maximum number of drives that can be configured for shared AC operation is limited by the amp capacity of the AC input connector. The following rules apply: Frame 1 drives can share AC with up to five drives of the same rating; Frame 2 drives can share AC with up to three drives of the same rating; Frame 3 drives can share AC with up to two drives of the same rating. Select the AC and DC sharing option for each axis individually. Rockwell Automation Publication MOTION-UM004B-EN-P - October