Using the New Profile Editor Introduction Welcome to the new motion profile editor for Motion Analyzer Online! We ve gathered a lot of feedback from our users and have incorporated it into the latest release. The new editor seeks to merge the familiarity of the former desktop editor with all that we have learned from the first online version of Motion Analyer. We appreciate your continued feedback and will continue to expand the functionality of the new editor as we move forward. You can always reach us at motionanalyzersupport@ra.rockwell.com to share feedback and report issues. Table of Contents Introduction... 1 Navigating to the New Editor... 2 The Profile Toolbar... 4 The Segment Toolbar... 5 The Master Plot... 6 Segment Editing Panel... 7 Motion Segments... 8 Additional Loads... 9 Finishing Up... 10 Miscellaneous... 10 1
Navigating to the New Editor There s three ways to get to the new editor: Axis, Project, or Library. The first is from the axis page: The second place is the project component detail page: Clicking these buttons pops up the familiar modal: 2
If you choose an application template, you will be taken to the older version. The new profile editor will support application templates in the next major release. The third way is by creating an axis from the Library: This will bring up a prompt asking for a profile name and giving the option to use the new editor. You can uncheck the Use New Editor checkbox to use the older version. If you want to change your default profile editor, you can do so in your account s preferences. 3
The Profile Toolbar Origin The left of the toolbar will have the origination point followed by a slash. If the profile was created as a library item, it will say "Library. If the origination point was an axis, it will have the axis name. Name The name of the motion profile is to the righ of the slash. You can change this in the Settings and Start Conditions dropdown menu on the far right. Type The type of the profile is displayed in all caps to the right of the profile name. Clear Profile The clear profile button removes all motion segments and load segments from the profile. Save The save button saves the latest changes to the profile Duplicate The duplicate button will duplicate the most recently saved version of the profile into another profile library item. Delete The delete button deletes the profile and returns you to the library or axis detail page. Settings and Start Conditions The settings and start conditions dropdown contains the name and initial velocity and position for the motion profile. The linear profiles include an inclination field. 4
The Segment Toolbar Undo The undo button undoes the most recent change. The undo feature keeps a record of all changes to the profile from the current session. Redo Redo will redo any undone changes from the current session Invert The invert button changes the sign of the incremental distance of an index segment. This button is only enabled when an index segment is selected. Cut You can cut motion and load segments. When you cut a segment, it deletes the segment from the profile and stores it in a virtual clipboard. Copy Copying a motion or load segment duplicates the information from the segment and places it on the virtual clipboard. You cannot copy constant additional load segments. Paste Pasting motion segments behaves by attempting to insert the segment on the virtual clipboard in front of the selected segment. Pasting load segments will attempt to place the segment in its original position. If there is an overlap, it will error. Pasting a load segment when a motion segment is selected will simply append the load segment to the end of its corresponding load profile. Delete Deletes the selected motion segment or load segment from the profile. Insert Inserting motion segment into the profile will shift the the selected motion segment and all segments after it to the right. Inserting load segments will try to insert a default load of 1 second duration, or fill a less than 1 second duration gap between 0 time or another previous load segment. If you want to insert an additional load segment over a motion segment, select the motion segment and click Insert>Load. If you are editing a load profile, you will not be able to insert motion segments. Select the motion segment edit radio button in the legend, select a motion segment, and then try to insert. 5
Add Adding motion and load segments will append a new default segment to the end of the corresponding profile. The Master Plot Legend The legend is to the left of the master plot. The columns of checkboxes allow you to choose which series curves or y axes you want to view on the plot. The left column of checkboxes controls the visibility of the curves. The right column controls the visibility of the y axes. The colored fields correspond to the color of the line plotted on the curve. The values in the colored boxes are the values of the profile at the time the mouse hovers at. You can change the units using the unit switchers. The edit radio buttons control which profile you are editing. There are three profiles: motion and three additional loads. The additional load profiles will only show up in the legend if they exist in the profile. The motion profile contains position, velocity, acceleration, jerk, and motion segment loads. For rotary profiles, the additional loads are inertia, torque, and friciton. For linear profiles, the additional loads are mass, force, and friction coefficient. 6
Plot Motion Analyzer In the new editor, we ve merged all of the profiles into a single plot. This is where you will click to select which segments to edit. You can choose which series to view using the checkboxes in the legend. By default all series are plotted. The default choices for y axes are position and velocity. You can zoom on this plot by scrolling. You can pan by clicking and dragging. Double click to reset the zoom to fit the entire profile. Segment Editing Panel Segment Type Dropdown This dropdown takes the place of the edit dropdown from the desktop version. Changing segment types replaces the currently selected segment with a default segment of the chosen type. Input Fields Each segment type has its own inputs. They have been modeled after the inputs from the older desktop version. The segment will change according to the inputs when the input fields are unfocused or the enter/return key is pressed. 7
Segment Plot The segment plot shows the currently selected segment. You can zoom in this plot by clicking and dragging the cursor along the x or y axis. The y axes visibility is inherited from the master plot. Motion Segment Loads Motion segment loads will be familiar to users of the desktop version. These are constant loads that only apply to the motion segment they belong to. When a profile is used for analysis, these loads will be summed with the additional loads. Motion Segments In the first release of the new editor, there are 3 basic motion segments and 1 advanced. The 3 basic motion segments are Accel/Decel, Index, and Cruise/Dwell. The Logix Element from the desktop version has been renamed to Cam. In the future, Index Advance and MAM segments will also be available. Accel/Decel Index Accel segments are used to reach a position or velocity in a given time. Use these to control velocity change. There are two permutations: Time-Distance and Time- Velocity. In the future, more permutations from the desktop version may be added. Index segments are used for covering a distance while maintaining the same start and end velocity. The segment is split either 1/3-1/3-1/3 accel, coast, decel. Or, 1/2-1/2 accel/decel using the triangle vs trapezoid dropdown. Cruise/Dwell Cruise/dwell segments are used to maintain the initial velocity for a given amount of time or until a desired distance is covered. 8
Cam Cam segments have three columns: master, slave, and interpolation. You can control the scale and units of measure for both the master and slave using the input fields at the bottom of the cam segment edit panel. The interpolation field controls how the profile editor calculates the path between points in the master and slave columns. You can import previously created cam profiles in logix format using the import button and pasting the table in the text field. You can export cam profiles to logix format by clicking export. This copies the table in text format to your computer s clipboard. Cam segments preserve the increment between values in the master and slave colums. Additional Loads Rotary Rotary loads are inertia, torque, and friction. The friction units are the same as torque units. Inertia and friction must be greater than or equal to 0. Linear Linear loads are mass, force, and friction coefficient. Friction coefficient has no units since it is a ratio. Mass and friction coefficient must be greater than or equal to zero. 9
Finishing Up When you re done with the profile, click the Save and Continue to Library/Axis button at the bottom of the page. If you re creating a library item, you will return to the library. If you re creating a profile within the context of an axis, you will return to the axis component detail page. To discard changes since the last save, click Return to Library/Axis Without Saving. Miscellaneous Application Templates Application templates are not supported for the new profile editor yet. They will be included in the next major release. Import/Export The May release does not include the ability to export the entire motion profile as a cam table. This feature will be added in the next major release. For the current release, you will not be able to convert older profiles to the new editor. In the future, all profiles will be migrated and updated to the new profile editor. 10