MOTOR SIZING TOOL REVISION HISTORY

MOTOR SIZING TOOL VERSION 1.50.15 RELEASE NOTE

New specifications compared to version 1.50.14

Include Russian language
Now Russian language is included.

Bugs solved
Corrected a bug in Rack&Pinion with moving pinion element
In previous version, external forces in Rack&Pinion element with moving pinion were ignored. Now external forces are correctly
calculated.

Corrected a bug where the load mass in Vertical Belt conveyor was added twice in the gravity torque
Now gravity force is calculated using the right load mass.

1
MOTOR SIZING TOOL REVISION HISTORY

Corrected a bug where the Advanced trapezoidal profile was not calculated properly
In previous version, using advanced trapezoidal profile with very short acceleration and deceleration settings may result in a profile
discontinuity. Now this has been corrected.

2
 MOTOR SIZING TOOL REVISION HISTORY

MOTOR SIZING TOOL VERSION 1.5 RELEASE NOTE

New specifications compared to version 1.4

Improvement of the Regenerative energy calculation and Braking resistor selection
Applications where there is a fast deceleration and a long dwell time, have a big regeneration power during the deceleration but
a low average regeneration power in all the cycle:

In previous versions, the Regeneration power was calculated only based in the total-cycle averaged regenerative power. This
results in abnormally small power resistors in applications with very long dwell time. In Version 1.5 we have set a limit in the ratio
between regeneration power during deceleration and regeneration power in all the cycle.

The average regeneration in all the cycle is 26 W, but the resistor selected is 38 W.

The new criteria is:

• Calculate the average regeneration in all the cycle (old criteria)
• Take the regeneration in the worse 80 ms (starting of deceleration) /15
• Use the bigger of both values

In addition, the regeneration is calculated only in 2nd and 4th quadrants.

3
MOTOR SIZING TOOL REVISION HISTORY

Adding an indication of ordering criteria in Motor selection list

The next indication has been added to indicate the motor ordering criteria:

Triangle pointing up mean ascending ordering.

Clicking again the triangle points down indicating descending order.

Adding an indication of filtering applied in Motor selection list

The funnel icon is added in the drop-down list that have one of the options unchecked indicating that there is a filter active:

In the image, the motor families and the rated voltage are filtered.

Improving selection of right motor shaft type

The next message has been added in the Motor selection tab for Japan region:

4
 MOTOR SIZING TOOL REVISION HISTORY

Default setting of Direct Inertia input is now deactivated in all elements except for gearbox
In previous versions, after using the Inertia calculator, the “Direct inertia setting” was set by default. Now is unset unless set by the
user.

The gearbox keeps by default Direct inertia Input as Inertia is a data that is normally given by the gearbox maker.

Accessory selection has been improved

In regions where there are standard motor cable and flexible motor cable, it was possible to select a mix of standard and flexible
cables. In order to facilitate the selection and avoid mistakes now it is only possible to select power and encoder cables of the same
type:

In the screenshot, as example, as Standard power cable has been selected, flexible cable options are blocked.

5
MOTOR SIZING TOOL REVISION HISTORY

Accessory selection is now properly saved

In the case above (regions with standard and flexible cable options) there was a bug where the selected cable length was not
properly saved. This bug has been corrected and now the selected cable length is properly saved in the project.

The tool performance has been improved

In previous versions, frequent calculation iterations, specially when plotting complex CAM profiles causes that the memory used
by the tool is increasing causing a decrease of the performance and, in extreme cases, even crashing the tool.
Now all the unused memory is freed resulting in an increase of the tool performance. As result of this, the resolution of the profile
segments has been increased from 500 points to 5,000 points (this is important in case of CAM profiles).

New tooltips in motor selection window have been added

In previous versions we have a tooltip that shows the ratio between motor and application just for the rated torque and inertia
ratio. Now we have the tooltip also for the Maximum speed and the Maximum Torque:

Bugs solved
Corrected a bug that showed incorrect motor judgement color
In previous version, under certain circumstances, the color indicating the motor judgement (green/orange/red) could be
incorrect while the message (OK/NG) was right.
This bug has been corrected and now the color code always correspond with the judgement.

6
 MOTOR SIZING TOOL REVISION HISTORY

Corrected a bug where sometimes the export option was disabled

Now the export option is always enabled if the controller is Sysmac.

Corrected a bug where Belt mass in Belt conveyor was incorrectly included in the gravity torque
The calculation of the gravity force/torque is independent of the mass of the conveyor belt.
In previous version, if you add a linear mass on top of the conveyor and you select “solidary with previous element”, the mass of
the belt was incorrectly included in the gravity force calculation.

Now this bug has been solved and only the linear mass is involved in the gravity force calculation.

7
MOTOR SIZING TOOL REVISION HISTORY

Corrected a bug where adding some profile segments to a cranck application crashes the tool
Now this bug has been solved and all profile segments can be added (respecting the cranck dimensions) without crashing.

Corrected a bug that gives an error message when trying to print a project
That error was generated when MST V1.5.12.05 was installed in one computer that has a different version of a certain .dll than the
one used by this software.
This has been corrected so the right version of the .dll is always used so printing does not generate error.

Corrected a bug that generates the wrong profile

Under certain circumstances, a ramp segment could be incorrectly shown as a trapezoidal profile. This has been solved in version
1.5.13.00 and all segments are properly shown.

Corrected a bug that may generate a wrong SS export file

MST V1.5.12.05 version in the “export” to Sysmac file handles the Axis gear ratio as 64 bit numbers while Sysmac Studio can only
import 32 bit numbers, so, in some cases, the .xml file generated cannot be imported into Sysmac Studio.
Version 1.5.13.00 solves this problem and the Axis ratio is always handled as 32 bit number so the import is successful in all cases.

8
 MOTOR SIZING TOOL REVISION HISTORY

MOTOR SIZING TOOL VERSION 1.4 RELEASE NOTE

New specifications compared to version 1.3

Database has been updated including new servo families
The new servo families have been included:
• 1S family has been extended including models up to 15 kW
• New 1S Motion Safety family has been included (200 W to 3 kW)

Gearbox property setting improvement

In version 1.3, clicking the arrow down in the gear ratio it goes 2 --> 1 --> 10, what was incoherent.
In version 1.4, the behavior is 2 --> 1 --> Keeps 1

Auto-connect unconnected mechanical elements

In the mechanical chain window there is a new button that links the different unlinked mechanical elements in order to create a
valid mechanical chain.
The (simplified) criteria is:
• Only one valid mechanical chain is created
• The first element is a motor and last element is a profile
• The priority of the mechanical elements (if present) is: Rotary_to_rotary --> Rotary_to_linear --> Linear_to_linear
• In case of several elements of the same type, the preference is by distance to the top-left corner
• Only one gearbox will be selected in case there are several
• Remaining elements will keep unconnected

9
MOTOR SIZING TOOL REVISION HISTORY

Before connection:

After connection:

Changed Auto-naming of new axes

A new created axis will follow the name Axis000, Axis001 and so on.
This predefined auto-name can be manually changed afterwards.

In the previous versions there were some exceptions to this rule.

10
 MOTOR SIZING TOOL REVISION HISTORY

New predefined axes are included

The new axes are: Winder, Unwinder, Moving Rack, Moving Pinion, Eccentric load, Vertical load.

11
MOTOR SIZING TOOL REVISION HISTORY

Axis window and Motor selection window are independent

In the previous versions, both windows share the same horizontal axis and have a common scrollbar, which make the visualization
difficult in low resolution screens:
Old specifications:

New specifications:

MST can be executed in a computer with non-administration rights

In the previous versions you needed to have administration rights in your computer to execute this tool.

12
 MOTOR SIZING TOOL REVISION HISTORY

Bugs solved
Suspension load recalculates the load inertia properly
In the previous versions, when you use a ‘suspension mechanism’ the inertia of the load reflected to the motor was properly
calculated, but if you change the pulley diameter, this inertia was not updated ending in a wrong calculation. This has been solved
and now the load inertia is changed correctly.

Database correction
Some minor mistakes in motor and accessories references have been corrected.

Translations
Some fixed texts now are translated to the selected language.

13
MOTOR SIZING TOOL REVISION HISTORY

MOTOR SIZING TOOL VERSION 1.3 RELEASE NOTE

New specifications compared to version 1.2

New mechanical element “Rack & Pinion” with moving pinion
A new mechanical element that is the “Rack & Pinion” with moving pinion has been created.

Previously exisng New element, Rack&Pinion

element, Rack&Pinion with moving Pinion.
with moving Rack.

In this element, the motor moves the pinion (directly or via other rotary element) and the pinion and all the elements from pinion
to the motor moves linearly.
Element properties:

The mass of the element appears as Property.

14
 MOTOR SIZING TOOL REVISION HISTORY

This is a typical example of application:

Intelligent Inertia Ratio Evaluation

The evaluation of the maximum inertia ratio is done just comparing the calculation result with the maximum ratio that appear in
the motor catalogue. In some cases this will result in an over-dimensioned servomotor because the catalogue shows the worst
case scenario.
In version 1.3 we have implemented a more optimized inertia evaluation.
This new feature is enabled from “Tools\Settings” in main menu:

In “Application results” window the inertia is evaluated according to stability criteria.

Every mechanical element, according to its typical rigidity has a maximum inertia ratio value that is considered “stable”. The
application compares the calculated inertia ratio with the value of the element with smaller ratio and show a color code of:
• Green if calculated value is smaller than element ratio
• Orange if calculated value is bigger than element ratio and smaller than double this value
• Red if calculated value is bigger than double this element ratio

15
MOTOR SIZING TOOL REVISION HISTORY

In this example, the maximum inertia ratio for stability criteria is 100, and the calculated ratio is 4.95 times so, green.

In addition, the maximum absorbable kinetic energy by the Drive Dynamic brake is calculated giving a second criteria for the
maximum inertia. In the motor selection table it appear the maximum absorbable energy and, when you put the cursor on top it
appear the calculated value:

The color criteria is next:

• Green: Ratio below 90%
• Orange: Ratio between 90% and 100%
• Red: Ratio above 100%

16
 MOTOR SIZING TOOL REVISION HISTORY

Auto-Alignment of Kinematic Chain

The kinematic chain is automatically aligned on clicking a new button.
Before:

After:

Third Party Motor Database Improvement

When using third party motors you have next improvements:
• The third party motor data is embedded in the project file
• On opening a project including a third party motor it is: added to the local database if the motor is not existing or asking which
action you want to do if the motor exists.

17
MOTOR SIZING TOOL REVISION HISTORY

MOTOR SIZING TOOL VERSION 1.2 RELEASE NOTE

New specifications compared to version 1.1

New regions
Now we can select between 7 different regions. Go to “Tool/Settings” and select “Configuration” tab:

The changes in the different regions are:

• The available drive and motor models
• The accessories references
• The default value of voltage supply
In European region all drives and motors are visible, even if they are not standard in Europe (eg, the 100 V models).

18
 MOTOR SIZING TOOL REVISION HISTORY

Profile Editor: Advanced Trapezoidal

In this new predefined profile you can define the position and time increments and, in addition, control separately acceleration,
deceleration and dwell time to obtain something like next:

19
MOTOR SIZING TOOL REVISION HISTORY

Profile Editor: S-Curve

In the predefined segment “Ramp” we have included the S-ramp parameter that allows to define Jerk in the movement:

The S-curve time is added at the start and at the end of the Ramp segment.
Obviously, the time range is from 0 (default) to “Duration/2” (all ramp segment is S-curve).

20
 MOTOR SIZING TOOL REVISION HISTORY

Improvements in Print Report

2 new fields have been added (shown with default setting):

Formulae is a simplified list of equations used in the calculations:

Sizing result is same summary that shown in the “Results” in the tool:

21
MOTOR SIZING TOOL REVISION HISTORY

Gearbox optimization
Many times, we have the freedom to choose the best gearbox ratio.
In order to simplify this operation, we have added a new tab in the “Application results” if a gearbox is used in the mechanical chain:

It open a new window where you can select the range of gearboxes to check:

Then, it result in traces of inertia, torque and speed from motor side so you can see quickly which is the optimum gearbox ratio in
this application. If your range of ratios is large, the calculation may take several seconds. In red and green you see the available
areas for the currently selected motor:

22
 MOTOR SIZING TOOL REVISION HISTORY

Help for setting mechanical properties

Sometimes it is not clear the meaning of some properties in the mechanical elements. A “Help” button that open a descriptive
window has been created:

New mechanical element: Mechanical lift CAM

This kind of mechanical elements are designed to run the motor at constant speed and the CAM lifts up & down some kind of
mass. For this reason, the motion profile should be in motor side.

23
MOTOR SIZING TOOL REVISION HISTORY

Intelligent scaling export to Sysmac Studio

In version 1.1, when you export one axis, the scaling follows the simple rule of:
• Numerator: Motor encoder resolution
• Denominator: Conversion factor from encoder counts to degree (for rotary motors) or mm (for linear motors)
This may result in infinite decimal conversion:

The new scaling changes numerator and denominator to use only integer values and avoid potential rounding errors.

New icons
Predefined axes icons correspond to 1S servo system:

Some new preinstalled images have been defined:

24
 MOTOR SIZING TOOL REVISION HISTORY

Lite Project version

We have created a simplified version of MST project addressed to people that is not very familiar with servo sizing.
The target of this “Lite” version is:
• To make the calculations simple
• To have everything needed in the calculation in one view
On opening MST you are asked which kind of project you want to create:

In a “Lite” project you can only use predefined mechanical axes:

Everything is in same view. The property window is a simplified list and is just below the corresponding mechanical element:

In the profile you can only select triangular, trapezoidal and advanced trapezoidal segments.

25
MOTOR SIZING TOOL REVISION HISTORY

Bugs solved and usability improvements

Asking to save when tool is closed
In version 1.1 this was asked always. In version 1.2 this only asked if project has been changed since last save operation.

Lost focus
In version 1.1, after closing the profile editor, the focus was lost. This has been solved in version 1.2.

Linear Motor temperature calculation

Under certain circumstances, in version 1.1 the linear motor temperature was calculated abnormally high, specially if speed was
below 2 m/s. The temperature calculation has been improved in version 1.2.

Winder/Unwinder maximum speed calculation

In version 1.1, the maximum motor velocity (when coil is empty) was not accurately calculated. This has been solved in version 1.2.

26
MOTOR SIZING TOOL REVISION HISTORY

27