XD-Series Software - MotionSet™

MotionSet™ is the powerful and easy-to-use commissioning software for XD-Series Indexer Servo Drives. The software is designed to run on a Windows-based development PC and communicates with XD-Series Indexers via either USB or Ethernet.

Key Features

• Easy to use tree configuration
• Drag'n'drop I/O mapping
• Motor integration wizard for 3rd party motors
• Powerful digital scope for tuning and diagnostics
• Built-in drive exerciser to simulate I/O
• Event log shows last 32 drive events
• Real-time monitoring of drive values
• Upgrade utility for updating drive firmware

Project Configuration

MotionSet™ uses a tree to represent the project configuration. Simply click on any element in the tree to view that page's configuration values. To create a new project start at the top of the setup screen and select your drive model. Select your motor and optional auxiliary encoder. Select your user units for position, velocity and acceleration. Configure any optional settings such as programmable limit switches (PLS), regen, brake, limits, etc.

Now move on to configure your I/O. MotionSet™ uses a drag'n'drop interface to allow you to easily assign input and output functions to the drive's physical I/O points. The XD-Series drive has 14 digital inputs and 8 digital outputs. There are dozens of input and output functions that can be mapped to this I/O. In addition, up to two input or output functions can be assigned to each I/O point.

Motion Configuration

XD-Series drive's motion table can contain up to 32 different motions. The motion types supported include relative and absolute indexes, velocity moves, gearing at a ratio, relative gears, cams and profiles. There are two ways to initiate these motions using the digital I/O. You can directly assign the first 8 motions to their own digital inputs or you can use up to 5 inputs as a BCD selection for any one of the 32 motions. Additionally, motions can be initiated via the Modbus/TCP or Fieldbus interfaces. Each motion table entry can be repeated or chained to another motion. This chaining can be synchronized to an input and ther is an optional available to blend one motion to the next without the motor coming to a stop.

You can also configure two jog speeds and there is an extensive Homing setup that supports almost any homing scenario without requiring external PLC control. Note that the jogging and homing functions do not use up any of the 32 motion table entries.

MotionSet provides a Motion Overview screen which lets you see and edit all parameters for all 32 motions from one screen. In addition, each motion table entry can be given a descriptive name and this name is displayed in the tree and on the motion overview screen.

Commissioning

Commissioning your application is a snap with MotionSet. If you're using a standard ORMEC motor simply pick it from the drop down list. If you're not, you can use the Motor Integration Wizard to automatically characterize a 3rd party motor. Once characterized the motor is added to MotionSet's Custom Motor Database which allows you to easily arrange and categorize motors and encoders from different vendors. The Custom Motor Database can also import and export motors and encoders by Vendor, Series or Model number.

Once you have your motor connected use MotionSet's Tuning screen and digital Scope to fine tune your motor. Tuning can be done in Simple Mode or Advanced Mode. In Simple Mode you can adjust the Load vs. Motor inertia ratio and the velocity loop proportional gain. In Advanced Mode you have access to all of the current, velocity and position loop gains as well as advanced features like notch filters, command low pass filters, feedforward filters and acceleration gains.

You can test your application without wiring up the I/O by using the Drive Exerciser. The Drive Exerciser lets you override any or all of the digital I/O on the drive and lets you control it with the click of a mouse. The Drive Exerciser also shows you some key real time data from the drive and lets you clear faults or errors, or initiate any motion in the motion table.

Diagnostic Capabilities

MotionSet includes extensive diagnostic capabilities, the most important of which is the Scope. The Scope is a 4-channel digital oscilloscope that let's you view any important value in your system in real-time. The timebase of the scope can be set as low as 0.1msec allowing you to see the fastest events. There are over 40 triggers to choose from including motion conditions (in motion, in accel, in decel, etc.), fault conditions, encoder reference signals, digital inputs, digital outputs and more. You can also choose to trigger the scope manually or let it free run. For the four traces you can select from velocity, current, position, position error, bus voltage, digital inputs and outputs, encoder reference signals, auxiliary encoder velocity and position and dozens more.

The Scope can log the drive's digital inputs and outputs and will graphically decode the state of each input or output at every sample of the capture. It's like having a built-in logic analyzer.

The Scope has zoom and pan features and allows you to zoom down to the sample level. You can make cursor measurements and you can use the cursor to view the actual value of each logged value at any point on the display. You can even use the built-in frequency analysis tool to isolate any resonances in your system.

The Monitor screen lets you view the current status of all of your I/O as well as many key values in the system such as position, velocity, current, fault/error status, motion # in progress, repeat counts etc., in real-time.

The Event Log shows you the most recent 32 events that occurred in the drive. Events include power cycles, faults and error conditions. The events are time-stamped, allowing you to view into the past to diagnose any unusual conditions.

Other Features

Both the Scope and Drive Exerciser have alternate "small" views for the times when you're working with limited screen real estate, especially older laptop screens.

MotionSet includes the ability to check for updates on the web at any time to make sure you have the latest version. Updates can be automatically downloaded and installed.

MotionSet displays complete version information for a connected drive and also contains a utility for upgrading the firmware in the drive.

MotionSet contains the same Cam/Profile Designer utility as found in ServoWire Pro. This utility can be used to generate simple tabular based cam's or profiles for use as a motion table entry. Of course you can also generate your own cam or profile data and import it into MotionSet as a comma-separated-value file (.csv).