Simulation of tuning effects for a servo driven mechatronic system
Contents
1.2. 202 102 USER INPUT 112 SIMULATION COMPONENT AUTOMATED 110 104 ANALYSIS COMPONENT VISUALIZATION COMPONENT 106 108 DATABASE ACCESS COMPONENT FIG 2 U S Patent Aug 28 2012 Sheet 3 of 14 US 8 255 197 B2 100 INTERFACE COMPONENT Pre CO 102 USER INPUT a AUTOMATED INPUT 112 SIMULATION COMPONENT VISUALIZATION COMPONENT ie 302 DISPLAY 104 DEVICE 110 ANALYSIS COMPONENT 108 DATABASE ACCESS COMPONENT 106 FIG 3 U S Patent Aug 28 2012 100 a Sheet 4 of 14 112 SIMULATION COMPONENT 110 ANALYSIS COMPONENT 108 N DATABASE ACCESS COMPONENT F 402 MOVE PROFILE DATA MOTOR DRIVE DATA AAA A US 8 255 197 B2 INTERFACE COMPONENT Y 202 USER INPUT AUTOMATED INPUT Lil F 102 VISUALIZATION COMPONENT a 302 DISPLAY DEVICE kanan ang sanan kta ban aha in ee ee ee ee ue 104 FIG 4 106 U S Patent Aug 28 2012 Sheet 5 of 14 US 8 255 197 B2 100 INTERFACE COMPONENT 102 112 SIMULATION COMPONENT ANALYSIS COMPONENT 104 VISUALIZATION COMPONENT i FORCE Fra a i i ANALYSIS N 502 i DISPLAY Luck pe ci DEVICE i AXIS STOP ANALYSIS 506 TOLERANCE ANALYSIS 106 TORQUE ANALYSIS i 110 510 DATABASE AC
3. 78 Position y Command Position Error Position FB 310 Notch filter 0 Torque Offset D gt Velocity FB FIG 14 US 8 255 197 B2 1 SIMULATION OF TUNING EFFECTS FOR A SERVO DRIVEN MECHATRONIC SYSTEM TECHNICAL FIELD The subject invention relates generally to industrial control systems and more particularly to motion simulation systems that interact with industrial control system databases based in part on selecting and analyzing motion components and behaviors BACKGROUND Motion controllers are special purpose computers utilized for controlling motors drives and other aspects of a mecha tronic system Designing a system where drive technology is utilized is difficult because of the complexities and unknowns involved in a motion system For instance what system load to motor inertia ratio is acceptable how will compliance and or backlash between the load and the motor impact per formance and what performance can be expected The diffi culty in answering these and many other questions are related to the complex relationship between load mechanism servo motor feedback servo drive controller and gain settings Typically determining answers to these questions involved building a prototype machine and conducting empirical tests to collect data and determine the proper combinations of machinery and configuration parameters Another possibility for a few designs included the use of general simula
4. The system of claim 10 wherein the controller com ponent enables selection of a control parameter for inclusion in a tuning calculation that tunes the predicted control loop parameter 12 The system of claim 1 further comprising an interface component that receives a user selection of the parameter and a visualization component that creates a graphical repre sentation of the result of the simulation in a plurality of graphs representing different aspects of the simulation 30 40 18 13 A method comprising employing a processor to facilitate execution of computer executable instructions stored on a computer readable storage medium to perform operations comprising obtaining preconfigured motion profile data for a motion application of a servo driven mechatronic system populating a parameter of a simulation of the motion appli cation according to the motion profile simulating the motion application according to the simu lation and tuning the parameter based on a result of the simulating 14 The method of claim 13 further comprising employing the processor to perform receiving a selection of an automatic mode of selection of a control parameter of the simulation 15 The method of claim 14 further comprising employing the processor to perform receiving an application type forthe automatic mode 16 The method of claim 15 further comprising employing the processor to perform calculating the control parameter
5. be employed to store infor mation local to the client s 1210 Similarly the server s 1220 are operably connected to one or more server data store s 1230 that can be employed to store information local to the server s 1240 Referring again to the drawings FIG 13 illustrates an embodiment of the subject invention where a plurality of client systems 1310 can operate collaboratively based on their communicative connection For instance as described previ ously a servo driven mechatronic system 100 can transmit an updated motion application model to a plurality of servo driven mechatronic systems 100 to share the simulation and analysis with others In another example the servo driven mechatronic systems 100 can operate in a series fashion allowing simulation and analysis data received by servo driven mechatronic system 100 client 1 to transmit the infor mation to servo driven mechatronic system 100 client 2 which proceeds to transfer the information to servo driven mecha tronic system 100 client N 1 and in a similar fashion trans mits the information to servo driven mechatronic system 100 client N where the information is transmitted to a server 1220 The word exemplary is used herein to mean serving as an example instance or illustration Forthe avoidance of doubt the subject matter disclosed herein is not limited by such examples In addition any aspect or design described herein as exemplary is not necessarily to be c
6. but are not limited to a processing unit 1120 a system memory 1130 and a system bus 1121 that couples various system compo nents including the system memory to the processing unit 1120 The system bus 1121 can be any of several types of bus structures including a memory bus or memory controller a peripheral bus and a local bus using any of a variety of bus architectures Computer 1110 can include a variety of computer readable media Computer readable media can be any available media that can be accessed by computer 1110 By way of example and not limitation computer readable media can comprise computer storage media and communication media Com puter storage media includes volatile and nonvolatile as well as removable and non removable media implemented in any method or technology for storage of information such as computer readable instructions data structures program modules or other data Computer storage media includes but is not limited to RAM ROM EEPROM flash memory or other memory technology CDROM digital versatile disks DVD or other optical disk storage magnetic cassettes mag netic tape magnetic disk storage or other magnetic storage devices or any other medium which can be used to store the desired information and which can be accessed by computer 20 25 30 35 40 45 50 55 60 65 14 1110 Communication media can embody computer readable instructions data structures program modules
7. optimum performance ratio In one aspect the user is presented with a graphical representation of the gearbox ratio versus the per centage utilization The user can then vary the gearbox ratio and observe the effect the variance of the gearbox ratio has with respect to percent utilization In another aspect the sub ject innovation the ratio design analysis component 506 pro vides the user a list of available gearboxes for selection for use in the analysis The user can then choose other gearboxes and vary the gearbox ratio to further identify the optimal compo nents to include in the servo driven mechatronic system design The tolerance analysis component 508 in another aspect of the subject innovation provides the user the ability to con US 8 255 197 B2 9 figure tolerance bands for any servo driven mechatronic sys tem variables used in the analysis These tolerance bands are evaluated as both ranges for input and determining if a par ticular application is marginal in its design In one aspect of the tolerance analysis component 508 the servo driven mechatronic system allows the user to configure a tolerance analysis for the load with regards to parameters such as load mass load thrust load inclination and tempera ture The user can configure a low and high value for each of these parameters and a number of steps between the low and high values In another aspect of the tolerance analysis com ponent 508 the servo driven mec
8. per turn of the screw or lead the inertia of the lead screw bearings and nut the torque required to rotate the screw at zero speed or pre load the efficiency and the slide mass If the user selects chain and sprocket then another graphical display prompts the user for the inertia and pitch circle diameter PCD of each sprocket drive and idler the table mass the chain mass and any rotary losses If the user selects rack and pinion then another graphical display prompts the user for the pinion pitch circle diameter the pinion inertia the table mass and any rotary losses In another aspect of the subject innovation illustrated at 808 of the method 800 of simulating tuning effects of a servo driven mechatronic system 100 the user is presented a graphical display for entering information related to one or more transmissions such as but not limited to a transmission type of belt drive chain and sprocket spur gear and coupling If the user selects belt drive chain and sprocket or spur gear then another graphical display prompts the user for the trans mission ratio inertia efficiency and frictional torque If the user selects coupling then only the coupling inertia is requested The user can select as many transmission descrip tions as the system requires In another aspect of the subject innovation illustrated at 808 of the method 800 of simulating tuning effects of a servo driven mechatronic system the user is presented a graphical di
9. system and methods to simulate the operation of a servo driven mechatronic system and allow the tuning of the system based on the components either manually selected by the user from a database or automati cally selected from the database by the system The entire servo driven mechatronic system is represented graphically and run in a simulated mode to provide the user with design parameters and configurations allowing successful matching of components and system operation The system includes a preconfigured database for genera tion of the simulation and can also be configured to base the 40 45 55 65 2 simulation on other databases such as industrial controller configuration databases and user defined databases The described system and methods provides for simulations that are operationally fast enough to allow many different eguip ment designs and configurations to run before selecting final design specifications In another aspect the system and meth ods simulate both mechanical and control behaviors allowing for a more complete simulation leading to a better system design for the actual implementation To the accomplishment of the foregoing and related ends certain illustrative aspects are described herein in connection with the following description and the annexed drawings These aspects are indicative of various ways which can be practiced all of which are intended to be covered herein Other advantages and novel fea
10. utilizing a correction value 17 The method of claim 13 further comprising employing the processor to perform displaying the result of the simulating based on the displaying receiving an input that further tunes the parameter and re simulating the motion application with the tuned parameter 18 The method of claim 13 further comprising employing the processor to perform sharing the result of the simulating with a disparate servo driven mechatronic system communi catively connected to the servo driven mechatronic system 19 A non transitory computer readable medium having instructions stored thereon that in response to execution cause a system including at least one processor to perform operations comprising collecting motion data for a motion application of a servo driven mechatronic system from a preconfigured motion equipment database populating a parameter of a simulation of the motion appli cation according to the motion data simulating the motion application according to the simu lation and tuning the parameter based on a result of the simulating 20 The computer readable medium of claim 19 wherein the operations further comprise populating a second parameter of the simulation accord ing to the motion data wherein the second parameter is a control loop parameter a compliance parameter a back lash parameter or a network parameter and tuning the second parameter based on the result
11. 6 database access component 108 analysis component 110 and simulation component 112 The interface component 102 is communicatively con nected to Input Output devices The interface component 102 provides for object or information selection input can corre spond to entry or modification of data Such input can affect the configuration graphic display reports and or automation devices For instance a user can select a motion application from the list of previously created applications or he can instruct the servo driven mechatronic visualization system 100 to create a new application Additionally or alternatively a user could modify axis parameters such as load type or actuator type By way of example and not limitation the user could select a transmission by selecting the transmission type and entering the ratio of transfer the effective inertia the efficiency with regards to torque dependent losses and the friction torque It should be noted that input need not come solely from a user it can also be provided by an automatic model computation based on information in a database related to the selected transmission type The interface component 102 receives input concerning displayed objects and information Interface component 102 can receive input from a user where user input can corre spond to object identification selection and or interaction therewith Various identification mechanisms can be employed For example user input ca
12. CESS COMPONENT POWER SUPPLY MOVE PROFILE i DATA dc ana 404 MECHANICAL LIMITATIONS annota i MOTORIDRIVE U S Patent 100 N US 8 255 197 B2 Aug 28 2012 Sheet 6 of 14 SIMULATION INTERFACE COMPONENT COMPONENT COMPLIANCE fi BACKLASH F 102 Lom INPUT aa 606 o I TERE ON SRE EEE CONTROLLER VISUALIZATION COMPONENT ANALYSIS le 4 COMPONENT i FORCE A RATIO DESIGN ANALYSIS TOLERANCE ANALYSIS TORQUE ANALYSIS 508 510 FIG 6 DEVICE SR unes ne 106 DATABASE ACCESS COMPONENT Serre 402 MOVE PROFILE DATA DATA Notti tia con U S Patent 100 N US 8 255 197 B2 Aug 28 2012 Sheet 7 of 14 102 SIMULATION INTERFACE Pan COMPONENT COMPONENT COMPLIANCE USERINPUT 4 i BACKLASH Eat ia aria dre te 604 OA 204 14 AUTOMATED A NETWORK INPUT lori os 606 14 104 CONTROLLER 4 lic tiro aaa VISUALIZATION _ COMPONENT goa DISPLAY DEVICE ANALYSIS y li s COMPONENT PE Ue CONFIGURATION AXIS STOP Ia ANALYSIS TOLERANCE ANALYSIS AA TORQUE ANALYSIS A A RS FIG 7 a STORAGE 106 F 108 DATABASE ACCESS COMPONENT A 4002 i MOVE PROFILE A DATA DATA U S Patent Aug 28 2012 Sheet 8 of 14 US 8 255 197 B2 800 De 802 CONFIGUR
13. E AXIS 804 CONFIGURE CYCLE PROFILE 806 CONFIGURE MECHANISM 808 CONFIGURE TRANSMISSION STAGES 810 SELECT COMPONENTS FIG 8 U S Patent Aug 28 2012 Sheet 9 of 14 US 8 255 197 B2 900 NA 812 SELECT COMPONENTS 902 MANUAL NU YES 904 MANUALLY SEARCH DATABASE 906 AUTOMATICALLY SEARCH DATABASE FIG 9 U S Patent Aug 28 2012 Sheet 10 of 14 US 8 255 197 B2 1000 a 812 SELECT COMPONENTS AXIS STOP DESIRED _ YES NO 1004 CONFIGURE AXIS STOP 1006 RUN SIMULATION FIG 10 US 8 255 197 B2 Sheet 11 of 14 Aug 28 2012 U S Patent OLII WOW OLII JOAI9S gowy S it Fmi 7 kap Gan eae a ea aia a ama CS 0911 9981974 YIOMION IZII sng W9ISAS OSII OZII Ae jdsig yun ga mdmo SUISS99014 AIQUISTA W9ISAG JUSWUOHNAUH Sunnduog U S Patent Aug 28 2012 Sheet 12 of 14 US 8 255 197 B2 1200 0 1210 La CLIENT S SERVER S CLIENT SERVER DATA STORE S DATA STORE S 1250 1230 COMMUNICATION FRAMEWORK 1240 FIG 12 U S Patent Aug 28 2012 Sheet 13 of 14 US 8 255 197 B2 1300 1310 1310 e e CLIENT N 1 Ea 1310 CLIENT 1 CLIENT N COMMUNICATION FRAMEWORK 1350 FIG 13 U S Patent Aug 28 2012 Sheet 14 of 14 US 8 255 197 B2 14 14 Porci n loop Feadforeward Velocity boos Tapren loop Feecforaward Low Pass filter e integral 5
14. US008255197B2 az United States Patent 10 Patent No US 8 255 197 B2 Pritchard et al 45 Date of Patent Aug 28 2012 54 SIMULATION OF TUNING EFFECTS FOR A 56 References Cited SERVO DRIVEN MECHATRONIC SYSTEM U S PATENT DOCUMENTS 75 Inventors John Pritchard Cedarburg WI US 7 868 610 B2 1 2011 Velinsky et al 324 207 25 Mark A Chaffee Chagrin Falls OH 2002 0111758 A1 8 2002 Wang etal 702 79 US Graham Elvis Norton Canes 2004 0030461 Al 2 2004 Flores etal TOU GB 2004 0049368 A1 3 2004 Hammetal 703 2 2004 0144177 A1 7 2004 Flock et al 73 660 2006 0048015 Al 3 2006 Bardelang et al 714 45 73 Assignee Rockwell Automation Technologies 2006 0184280 Al 8 2006 Oddsson et al 700 245 Inc Mayfield Heights OH US 2007 0067678 Al 3 2007 Hosek et al 714 25 2007 0283188 A1 12 2007 Balzeretal 714 26 SN i i 2 2008 0033897 Al 2 2008 Lloyd 706 19 Notice Subject to any disclaimer the term of this 2008 0039959 Al 2 2008 Fisteretal 700 56 palen is extended or adjusted under 35 cited by examiner Primary Examiner Kandasamy Thangavelu HINO 3403 74 Attorney Agent or Firm Turocy amp Watson LLP 22 Filed RITA Raymond Speroff iled ep 30 57 ABSTRACT 65 Prior Publication Data A servo driven mechatronic system
15. ardware and or software components These include components such as switches with virtual local area network VLAN capability LANs WANs proxies gateways routers firewalls virtual private network VPN devices servers clients computers configu ration tools monitoring tools and or other devices Referring initially to FIG 1 a servo driven mechatronic visualization system 100 for analyzing the selected compo nents and simulating the operation of the servo driven mecha tronic system is depicted The system provides a mechanism to design and test a servo driven mechatronic system without the costly expense of prototyping the system or the lengthy lead time to configure a generalized simulation software package to investigate whether the selected components are operationally acceptable and compatible It is contemplated that the servo driven mechatronic visu alization system 100 can form at least part of a system devel opment visualization system but is not limited thereto For example the servo driven mechatronic visualization system 100 can be employed to facilitate creating a servo driven mechatronic system related to automation control systems devices and or associated equipment collectively referred to herein as an automation device s forming part of a produc tion environment Servo driven mechatronic system 100 includes interface component 102 visualization component US 8 255 197 B2 5 104 storage component 10
16. ates and the shaft load ratings It should be noted that the life estimate calculations can be performed on gear motors actuators linear stages or other equipment components 0 jak 5 30 40 45 55 65 10 Referring now to FIG 6 the simulation component 112 includes a compliance backlash component 602 a network component 604 and a controller component 606 The simu lation component 112 provides the capability to run the user s configured servo driven mechatronic system as a simulation and collect data useful in analyzing the feasibility efficiency and stability of the mechatronic system based on the compo nent selection In one aspect the compliance backlash com ponent 602 provides the user with a mechanism to manually enter data for the compliance of the mechatronic system components and backlash data associated with the gearbox In another aspect the compliance backlash component 112 can automatically include backlash data for the gearbox from the database in place of or in addition to the manual data provided by the user The inclusion of compliance and back lash data allows the compliance backlash component 602 in concert with the simulation component 112 to calculate any predicted resonance characteristics of the mechatronic sys tem In many applications these constraints will provide the limits of performance of the mechatronic system The network component 604 in another aspect of the sub ject inn
17. c system 100 In one aspect the model storage component provides the capability to store a plurality of preconfigured motion application models The preconfigured motion application models can be organized by any criteria and made available for selection by the user For example the user can choose a preconfigured motion application model based on the production line type or on a particular machine operating as part of the production line At the users discretion new motion application models can be created and stored based on changes to the production line or a particular machine The operator can also combine multiple motion application models to create a new larger motion application model For example the operator can select a press roll feed template and add a cutter knife drive template The operator can then modify the default configu rations of the templates to match the operator s motion appli cation requirements The model storage component 702 also allows the preconfigured motion application models to be shared with server data stores 1230 or other servo driven mechatronic systems 100 through any of the communica tively connected systems In another aspect the system storage component 704 pro vides storage for all the components required to operate the servo driven mechatronic system 100 and the simulation and analysis data collected based on operator invocation of the simulation As with the preconfigured process problem s
18. chatronic system components and entering configuration data The servo driven mechatronic system also provides the user the ability to create and manage a plurality of motion applications on the current system or on network servers or other servo driven mechatronic systems communicatively connected to the current system It should be noted that the user can manually transfer the motion applications to or from another servo driven mechatronic system or server or the servo driven mechatronic system can automatically transfer the motion applications to other servo driven mechatronic systems or servers based on events such as but not limited to a user changing some aspect of a motion application In another aspect the configuration component 304 pro vides for exporting motion applications to different formats for use by other software applications For example the motion application can be exported to a delimited text file of the user s configuration or to a document in a word processor format It should be noted that the described formats are exemplary and other formats are possible based on the user s indication Configuration component 304 can also allow the configu ration of a motion application based on predefined templates The predefined templates can be categorized as standard tem plates such as but not limited to press roll feed and cutter knife drive or as advanced templates such as but not limited to crank and four bar linkage The
19. d compo nents included in the simulation application The use of this data provides the simulator the characteristic information of the components allowing the simulator the ability to calculate the behavior of the configured system and generate the data necessary to analyze the configured system to tune the com ponents for optimal operation The motor drive data component 404 provides the user access to the data associated with the configuration and Operational requirements of the selected drives and motors This data includes but is not limited to supply type voltage type nominal voltage voltage tolerances transmission type transmission inertia transmission ratio transmission effi ciency etc As described previously the use of this data pro vides the simulator the characteristic information of the com ponents allowing the simulator the ability to calculate the behavior of the configured system and generate the data nec essary to analyze the configured system to tune the compo nents for optimal operation Referring now to FIG 5 the analysis component 110 includes a force analysis component 502 an axis stop analy sis component 504 a ratio design analysis component 506 a tolerance analysis component 508 a torque analysis compo nent 510 a power supply component 512 mechanical limi tations component 516 and a life estimate component 514 In another aspect of the subject innovation the force analysis component 502 provides th
20. e or more aspects This can include receiving user commands from a mouse keyboard speech input web site remote web service and or other device such as a camera or video input to affect or modify operations of the GUI Additionally it is also noted that the term industrial con troller as used herein includes both PLCs and process con trollers from distributed control systems and can include functionality that can be shared across multiple components systems and or networks One or more industrial controllers can communicate and cooperate with various network devices across a network This can include substantially any type of control communications module computer I O device Human Machine Interface HMI that communicate via the network which includes control automation and or public networks The industrial controller can also commu nicate to and control various other devices such as Input Output modules including Analog Digital Programmed In telligent I O modules other programmable controllers communications modules and the like The network not shown can include public networks such as the Internet Intranets and automation networks such as Control and Information Protocol CIP networks including DeviceNet and ControlNet Other networks include Ethernet DH DH Remote I O Fieldbus Modbus Profibus wireless networks serial protocols and so forth In addition the network devices can include various possibilities h
21. e user the ability to determine the order of the segments with regards to peak force This analy sis directs the user to the appropriate segment for consider ation of design changes that will have the greatest impact on servo driven mechatronic system efficiency of operation If the user chooses the other segments can be reviewed and are presented to the user in order of descending peak force In another aspect of the subject innovation the axis stop component 504 presents the user a graphical analysis and options for using a drive controlled stop or a resistive brake module In one aspect of the axis stop component 504 the user is presented a graphical representation of the decelera tion time and distance required based on a controlled stop by the drive In another aspect of the axis stop component 504 the user can select to analyze a resistive brake module by providing a start velocity based on a maximum application or maximum motor velocity and load data for the servo driven mechatronic system The results ofthe selection are presented to the user in a graphical format is feasible if not feasible then the user receives a message about what parameters to change to allow the use of a resistive brake module In another aspect of the subject innovation the ratio design analysis component 506 provides the user the ability to inves tigate the effect of transmission ratio on servo driven mecha tronic system performance and to quickly choose an
22. ence can also refer to techniques employed for composing higher level events from a set of events and or data Such inference results in the construction of new events or actions from a set of observed events and or stored event data whether or not the events are correlated in close temporal proximity and whether the events and data come from one or several event and data sources 0 pak 5 30 35 40 45 50 55 65 4 It is also noted that the interfaces described herein can include a Graphical User Interface GUI to interact with the various components for providing industrial control informa tion to users This can include substantially any type of appli cation that sends retrieves processes and or manipulates factory input data receives displays formats and or com municates output data and or facilitates operation of the enterprise For example such interfaces can also be associ ated with an engine editor tool or web browser although other type applications can be utilized The GUI can include a display having one or more display objects not shown including such aspects as configurable icons buttons sliders input boxes selection options menus tabs and so forth hav ing multiple configurable dimensions shapes colors text data and sounds to facilitate operations with the interfaces In addition the GUI can also include a plurality of other inputs or controls for adjusting and configuring on
23. f the user selects an indexing mode then the user is further prompted by graphi cal displays for additional input such as but not limited to motion parameters of move distance move time and dwell time If the user selects a multi segment mode then the user is further prompted by graphical displays for additional input such as but not limited to initial velocity final velocity dis tance time acceleration deceleration external force and payload mass for each segment In another aspect of the subject innovation illustrated at 806 of the method 800 of simulating tuning effects of a servo driven mechatronic system the user is presented a graphical display for entering the mechanism load data such as but not limited to the load mass of the entire profile the external force applied to the entire load mass the coefficient of friction associated with the load mass and the table mass and the inclination of the path the mass must travel In another aspect of the step 806 the user must enter the actuator type associ ated with the mechanism The actuator type can be but is not limited to belt drive lead screw chain and sprocket and rack and pinion Ifthe user selects belt drive then another graphical displays prompts the user for the inertia and diameter of each roller drive and idler the table mass the belt mass and any rotary losses If the user selects lead screw then another graphical display prompts the user for the distance the load moves
24. for automatic tuning The controller component 606 in another aspect of the subject innovation can automatically tune different compo nents of the control loops based on the application type For example the user can select an application type from basic constant speed pointto point and tracking After selecting the application type the user can select one or more control loop parameters to include in the automatic tuning calculation For example the user can select one or more of the parameters of position integral velocity integral velocity feedforward acceleration feedforward torque offset and output filter After selecting the desired parameters the user initiates the auto matic control loop tuning calculations and the best param eters are calculated entered into the data fields and presented to the user The user can then run a simulation with the calculated parameters and evaluate the performance of the automatically tuned control loop parameters Referring now to FIG 7 the storage component 106 includes a model storage component 702 and a system stor age component 704 Storage component 106 can be any suit able data storage device e g random access memory read only memory hard disk flash memory optical memory relational database XML media system or combination thereof The storage component 106 can store information programs historical process data and the like in connection with the servo driven mechatroni
25. hatronic system allows the user to select an element of the velocity profile configure its tolerance parameters and display the effect on the profile of the newly configured parameters In another aspect of the tolerance analysis component 508 the user can configure a tolerance analysis for the actuator with regards to inertia diameter belt mass table mass losses temperature and the coefficient of friction The user can configure a low and high value for each of these parameters and a number of steps between the low and high values In another aspect of the subject innovation the torque analysis component 510 provides the user the ability to deter mine the order of the segments with regards to peak torque This analysis directs the user to the appropriate segment for consideration of design changes that will have the greatest impact on servo driven mechatronic system efficiency of operation If the user chooses the other segments can be reviewed and are presented to the user in order of descending peak torque In one aspect the power supply component 512 allows the user to select system modules for multi axis servo driven mechatronic systems In another aspect the power supply component 512 allows the user to select the phase relation ship between the various axis profiles allowing optimization or limiting of the current draw for the servo driven mecha tronic system In another aspect of the power supply component 512 the user can
26. ial control For example a component may be but is not limited to being a process running on a processor a processor an object an executable a thread of execution a program and a computer By way of illustration both an application running on a server and the server can be components One or more components may reside within a process and or thread of execution and a component may be localized on one com puter and or distributed between two or more computers industrial controllers and or modules communicating there with Additionally it is noted that as used in this application terms such as system user user operator and the like are intended to refer to the person operating the computer related entity referenced above As used herein the term to infer or inference refer generally to the process of reasoning about or inferring states of the system environment user and or intent from a set of observations as captured via events and or data Captured data and events can include user data device data environ ment data data from sensors sensor data application data implicit and explicit data etc Inference can be employed to identify a specific context or action or can generate a prob ability distribution over states for example The inference can be probabilistic that is the computation of a probability distribution over states of interest based on a consideration of data and events Infer
27. ial information the user using the user input component 202 can add additional information or comments to the servo driven mechatronic system to further tune the servo driven mechatronic system or extend the solution to other aspects or machines of the pro cess The enhanced solution can then be communicated to US 8 255 197 B2 7 other servers or servo driven mechatronic systems to decrease overall design time by providing greater insight into the servo driven mechatronic system In another aspect the automated input component 204 provides the user the ability to automatically import motion application data For example the user can instruct the servo driven mechatronic system to import axis data The user can choose to import the selected axis data into the currently displayed motion application or into another motion applica tion defined on the servo driven mechatronic system In another aspect of the subject innovation if the selected motion application has more than one axis defined the user can select the particular axis for application of the imported data Referring next to FIG 3 the visualization component 104 includes a display device component 302 and a configuration component 304 In one aspect the display device component 302 provides a device for rendering a graphic image allowing the operator to monitor the simulation and analysis A part of the graphic image menus and data entry fields for selecting servo driven me
28. n be based on position ing and or clicking of a mouse stylus or trackball and or depression of keys on a keyboard or keypad with respect to displayed information Furthermore the display device may be by a touch screen device such that identification can be made based on touching a graphical object Other input devices are also contemplated including but not limited to gesture detection mechanisms e g pointing gazing and voice recognition The visualization component 104 presents the configura tion screens to the user for selecting the components of the servo driven mechatronic visualization system 100 One or more of the configuration displays contain data entry fields buttons check boxes or dropdown menus for selecting com ponents and their associated configuration parameters For example the display graphic can have a section labeled Volt age Selection for the operator to configure the supply type the voltage type and the nominal voltage In another example the user can configure the load data by entering the mass the external force and the coefficient of friction related to the load and table mass Additionally the user can select an inclination depicting the path of travel of the load The storage component 106 provides the ability to archive preconfigured process motion application solutions precon figured servo driven mechatronic visualization systems including displays reports and graphs and user configured c
29. nfiguration This method results in the generation of different solutions for the design of the intended servo driven mechatronic system After generating the different solutions the user can review the analysis of each solution and select the best solution and therefore the best components for the intended application The simulation component 112 provides the user the abil ity to simulate the running of the servo driven mechatronic system based on the selected components and configuration parameters In another aspect the simulation component 112 interacts with a database from a motion controller providing the user the ability to tune the selected components and their associated parameters to optimal conditions based on the information provided by the databases Referring next to FIG 2 the interface component 102 includes user input component 202 and automated input com ponent 204 In one aspect user input component 202 provides the capability for a user to input manual data to select and configure a servo driven mechatronic system The user can add this information manually with the input devices such as but not limited to a keyboard and mouse For example the user can add an actuator type mechanism component to the servo driven mechatronic system including the initial speci fication of parameters such as actuator type pinion pitch circle diameter pinion inertia losses and table mass Ata later time when simulations have provided init
30. nts In another aspect of the subject innovation the controller component 606 provides the user the ability to simulate the process control loops embedded in the mechatronic system controller In one aspect the user can manually enter planner rate data tuning parameters and other optional data For example if the user has experience with the simulated equip ment empirically derived control parameters such as gains and integrals can be manually entered to reduce the simulator iterations required to approach the optimal solution In another aspect of the subject innovation the controller component 606 simulates a cascaded control loop structure as illustrated in FIG 14 A position proportional integral control loop is cascaded into a velocity proportional integral control loop that is cascaded in a current control loop The initial loop parameters are entered either from the user s manual entry from an automatic search of the database or from a combina tion of manual user data and automatic data base search After each simulation the user can manually change the data entries for each control parameter In another aspect of the subject innovation the user can select an automatic control loop US 8 255 197 B2 11 tuning function providing the user the ability to allow the simulation component 112 to provide loop parameters based on simulation data The user can choose to tune an individual parameter or select a plurality of parameters
31. olu tion models the collected simulation and analysis data can be shared among server data stores 1230 or other servo driven mechatronic systems 100 A maintenance system associated with the system storage component 704 provides for auto matically backing up changed preconfigured motion applica tion models and simulation and analysis data based on a timed frequency and an indication that the system storage compo nent 604 is reaching full capacity Referring now to FIG 8 a method 800 of simulating tuning effects of a servo driven mechatronic system is illustrated In one aspect at 802 the user configures one or more axis of the servo driven mechatronic system The user is presented 0 an 5 20 25 40 45 50 65 12 graphic screens for entering selections including but not lim ited to load type and actuator type In addition the user can make a voltage selection including but not limited to supply type voltage type nominal voltage and voltage tolerances In another aspect the user can enter a user defined name for the axis and provide parameters associated with the motor and or drive of maximum ambient temperature and altitude In another aspect at 804 of the method 800 of simulating tuning effects of a servo driven mechatronic system the user configures cycle profile data by first selecting a cycle profile mode The cycle profile mode includes but is not limited to selections of indexing and multi segment I
32. omponents of the visualization system 100 Additionally any databases created by the user are archived on the storage component and can be communicated to server data stores 1230 or other servo driven mechatronic visualization system clients 1310 In another aspect servo driven mechatronic application data is maintained on the storage component 106 for future review with regards to creating new preconfigured servo driven mechatronic systems 100 or updating existing servo driven mechatronic systems 100 The storage component 106 can automatically transfer its database ofpreconfigured servo driven mechatronic systems 100 to other server data stores based on a timed schedule an event such as the selection of similar components at another servo driven mechatronic sys tem For example if a user configures a parameter associated with a particular transmission type and archives the applica 20 25 30 35 40 45 50 55 60 65 6 tion model to the storage database 106 the servo driven mechatronic system 100 can automatically update all other servo driven mechatronic systems containing the preconfig ured transmission as a default selection In this manner the efficiency of the overall servo driven mechatronic system design is improved because better default choices are avail able If the particular transmission is selected at another loca tion then the user at that location can select the preconfigured transmission paramete
33. onstrued as preferred or advantageous over other aspects or designs nor is it meant 0 ha 5 20 40 45 50 55 16 to preclude equivalent exemplary structures and techniques known to those of ordinary skill in the art Furthermore to the extent that the terms includes has contains and other similar words are used in either the detailed description or the claims for the avoidance of doubt such terms are intended to be inclusive in a manner similar to the term comprising as an open transition word without precluding any additional or other elements The aforementioned systems have been described with respect to interaction between several components It can be appreciated that such systems and components can include those components or specified sub components some of the specified components or sub components and or additional components and according to various permutations and com binations of the foregoing Sub components can also be implemented as components communicatively coupled to other components rather than included within parent compo nents hierarchical Additionally it should be noted that one or more components may be combined into a single compo nent providing aggregate functionality or divided into several separate sub components and that any one or more middle layers such as a management layer may be provided to communicatively couple to such sub components in order
34. or other data in a modulated data signal such as a carrier wave or other transport mechanism and can include any suitable informa tion delivery media The system memory 1130 can include computer storage media in the form of volatile and or nonvolatile memory such as read only memory ROM and or random access memory RAM A basic input output system BIOS containing the basic routines that help to transfer information between ele ments within computer 1110 such as during start up can be stored in memory 1130 Memory 1130 can also contain data and or program modules that are immediately accessible to and or presently being operated on by processing unit 1120 By way of non limiting example memory 1130 can also include an operating system application programs other pro gram modules and program data The computer 1110 can also include other removable non removable volatile nonvolatile computer storage media For example computer 1110 can include a hard disk drive that reads from or writes to non removable nonvolatile magnetic media a magnetic disk drive that reads from or writes to a removable nonvolatile magnetic disk and or an optical disk drive that reads from or writes to a removable nonvolatile optical disk such as a CD ROM or other optical media Other removable non removable volatile nonvolatile computer storage media that can be used in the exemplary operating environment include but are not limited to magnetic tape ca
35. ovation provides the user with a mechanism for manually entering network parameters associated with simu lating the operation of the mechatronic system For example the user can enter the network update allowing the network component 604 to predict the behavior of the mechatronic system between data samples The user can adjust the entered update rate value in the simulator and run additional simula tions to determine if another network update rate would lead to a mechatronic system with greater stability for the selected components In another aspect of the subject innovation in combination with the user s manually entered data the network compo nent 604 can automatically select network model parameters from the mechatronic system database The data provided from the database allows the network component 604 to fine tune the simulation to make a better estimate of the charac teristics of the mechatronic system because of the ability to determine the impact of the identified network and its asso ciated parameters on the operation of the components of the mechatronic system For example the network component 112 can allow for the lag time between the occurrence of a specific event at one of the mechatronic system components and the notification to the controller of the event Accord ingly the simulation component 112 prediction of the behav ior of the mechatronic system more accurately represents the system based on the selected compone
36. r distrib uted environment using logical connections to one or more other remote computers such as remote server 1170 which can in turn have media capabilities different from device 1110 The remote server 1170 can be a personal computer a server a router a network PC a peer device or other common network node and or any other remote media consumption or transmission device and can include any or all of the ele ments described above relative to the computer 1110 The logical connections depicted in FIG 11 include a network 1171 such local area network LAN or a wide area network WAN but can also include other networks buses Such net US 8 255 197 B2 15 working environments are commonplace in homes offices enterprise wide computer networks intranets and the Inter net When used in a LAN networking environment the com puter 1110 is connected to the LAN 1171 through a network interface or adapter When used in a WAN networking envi ronment the computer 1110 can include a communications component such as a modem or other means for establishing communications over the WAN such as the Internet A com munications component such as a modem which can be internal or external can be connected to the system bus 1121 via the user input interface at input 1140 and or other appro priate mechanism In a networked environment program modules depicted relative to the computer 1110 or portions thereof can be stored in a remo
37. r multiple devices can share the performance of one or more functions described herein and similarly storage can be effected across a plurality of devices Accordingly no single embodiment shall be considered limiting but rather the vari ous embodiments and their equivalents should be construed consistently with the breadth spirit and scope in accordance with the appended claims While for purposes of simplicity ofexplanation the meth odology is shown and described as a series of acts it is to be understood and appreciated that the methodology is not lim ited by the order of acts as some acts may occur in different orders and or concurrently with other acts from that shown and described herein For example those skilled in the art will understand and appreciate that a methodology could alterna tively be represented as a series of interrelated states or events such as in a state diagram Moreover not all illustrated acts may be required to implement a methodology as described herein US 8 255 197 B2 17 What is claimed is 1 A system comprising a memory that stores computer executable components the computer executable components comprising a database access component that facilitates access to motion data from a motion equipment profile associated with an operation ofa servo driven mechatronic system a simulation component that populates a simulation of the operation with a parameter from the motion data and runs the
38. rs without the time consuming and costly step of analyzing the components The database access component 108 provides methods and functionality allowing the user access preconfigured motion component databases and user configured motion component databases In one aspect the preconfigured motion databases allow the user to select standard commercially available com ponents for use in an analysis and simulation In another aspect of the subject innovation the user can create databases containing custom designed components for use in selecting components for the analysis and simulation In another aspect the database access component allows the user to select preconfigured or user configured databases from other servo driven mechatronic systems communicatively con nected with the user s system The analysis component 110 provides the user the ability to analyze the data generated by the simulation The analysis component presents information important to selecting the components of the servo driven mechatronic system 100 For example this information includes motor parameters such as but not limited to inertia ratio peak torque and temperature rise In another example the information includes drive parameters such as but not limited to average amperes peak amperes and bus volts In another aspect the user can make changes to the param eters associated with the selected components and perform another analysis based on the changes in the co
39. se templates provide a starting point for creating motion applications associated with typical motion operations The templates can then be customized by the user to meet the user s specific motion application Upon completion the user can create new templates based on the final configuration thus creating a more accurate starting point for future simulation applications Returning to the FIG 4 of the drawings the database access component 108 includes move profile data component 402 and motor drive data component 404 The database access component 108 provides the user the ability to interact with databases containing the information necessary to con duct a simulation of the selected components and perform an analysis based on the results of the simulation In one aspect of the subject innovation the database access component 108 allows the user to interact with databases associated with commercially available motors drives gearboxes and shunts In another aspect of the subject innovation the database access component 108 provides the user the ability to create custom designed motor databases for use in conducting simu lations of the selected components jak 5 30 40 45 50 55 60 65 8 The move profile data component 402 provides the user access to the data associated with the movement characteris tics of the selected drives motors actuators transmissions and resistive brake modules for any of the specifie
40. select power modules and shunts The power mod ules and shunts can be selected manually or automatically depending on the user s knowledge or desire to explicitly control the selection The analysis provides the user detailed analysis of the servo driven mechatronic system activity in terms of bus volts and system current in addition to providing the capability to simulate changes to the system parameters In another aspect the power supply component 512 of the servo driven mechatronic system allows the user to specify the time slice interval for the analysis display allowing the user to more accurately tune the servo driven mechatronic system as the design evolves towards a final configuration In another aspect of the power supply component 512 an energy saving estimator presents the user with the cost savings of using the servo driven mechatronic system as designed and configured In another aspect ofthe subject innovation the life estimate component 514 provides the user the ability to estimate the L10 lives of bearings and seals associated with the equipment components selected for the servo driven mechatronic sys tem The user is presented with graphic displays for inputting operating condition data The input data includes but is not limited to axial load radial load hours of operation per day days of operation per week and weeks of operation per year The servo driven mechatronic system then calculates the shaft bearing L10 life estim
41. simulation and an analysis component that tunes the parameter based on a result of the simulation and aprocessor communicatively coupled to the memory that facilitates execution of at least one of the computer executable components 2 The system of claim 1 wherein the database access component selects a subset of a set of available databases for use in the simulation 3 The system of claim 1 wherein the database access component creates a user defined preconfigured database for use in the simulation 4 The system of claim 1 further comprising a backlash component that determines a resonance characteristic asso ciated with a design of the servo driven mechatronic system 5 The system of claim 4 wherein the backlash component facilitates a change of a backlash parameter of the simulation 6 The system of claim 1 further comprising a network component that simulates an influence of a network on a stability of the servo driven mechatronic system 7 The system of claim 6 wherein the network component changes a network configuration parameter ofthe simulation 8 The system of claim 1 further comprising a controller component that predicts a control loop parameter of the simu lation 9 The system of claim 8 wherein the controller component tunes the predicted control loop parameter 10 The system of claim 9 wherein the controller compo nent tunes the predicted control loop parameter based on an application type 11
42. simulator and analyzer US 2010 0082314 A1 Apr 1 2010 utilizing preconfigured motion equipment profile databases to predict the behavior of a motion system based on a user 51 Int Cl selected configuration The user can adjust the parameters G06F 17 50 2006 01 and rerun the simulation and analysis many times in an effi cient manner until the optimum operating conditions of the 52 U S el sasa GE AN 703 13 700 245 714 25 desired system are reached The user can then archive the 58 Field of Classification Search 703 7 13 system design and implement the system with a greater level 703 2 6 700 56 245 706 19 714 25 of confidence in the ability of the design to meet the require 714 26 45 702 79 701 11 324 207 25 ments of the application 73 660 See application file for complete search history 20 Claims 14 Drawing Sheets 100 BS 112 RI SIMULATION COMPONENT 102 INTERFACE Le COMPONENT 110 104 NI ANALYSIS VISUALIZATION b s COMPONENT COMPONENT ACH DATABASE ACCESS COMPONENT 106 U S Patent Aug 28 2012 Sheet 1 of 14 US 8 255 197 B2 100 BI 112 SIMULATION COMPONENT F 102 INTERFACE COMPONENT 110 104 ANALYSIS VISUALIZATION COMPONENT COMPONENT 106 108 DATABASE ACCESS COMPONENT FIG 1 U S Patent Aug 28 2012 Sheet 2 of 14 US 8 255 197 B2 100 De INTERFACE COMPONENT a
43. splay for selecting the motor and drive based on the previ ously entered information The user can choose a motor type with or without a gearbox Ifthe user chooses a motor without a gearbox then the user must enter the maximum inertia ratio select one or more motor series from a list of at least AC Spindle Motors Asynchronous 460 volt servo motors Asyn US 8 255 197 B2 13 chronous 400 volt servo motors liguid cooled servo motors and standard servo motors If the user selects a motor with a gearbox then the user must also select a gearbox manufac turer configuration series and frame Referring now to FIG 9 a method 900 of simulating tuning effects of a servo driven mechatronic system is illustrated In one aspect at 902 the user must select whether the intended databases will be searched automatically or manually If the user selects manually at 904 then the user must select one or more motors and or drives from the presented list If the user selects automatically at 906 then the servo driven mecha tronic system 100 will present the user with the best motor and drive selection based on the previously entered configu ration data for use in the simulation and analysis of the servo driven mechatronic system 100 Referring now to FIG 10 a method 1000 illustrates con figuring a servo driven mechatronic system 100 to include an axis stop before running a simulation and analysis The useris presented with a graphical display illus
44. ssettes flash memory cards digital versatile disks digital video tape solid state RAM solid state ROM and the like A hard disk drive can be connected to the system bus 1221 through a non removable memory interface such as an inter face and a magnetic disk drive or optical disk drive can be connected to the system bus 1121 by a removable memory interface such as an interface A user can enter commands and information into the com puter 1110 through input devices such as a keyboard or a pointing device such as a mouse trackball touch pad and or other pointing device Other input devices can include a microphone joystick game pad satellite dish scanner orthe like These and or other input devices can be connected to the processing unit 1120 through user input 1140 and associated interface s that are coupled to the system bus 1121 but can be connected by other interface and bus structures such as a parallel port game port or a universal serial bus USB A graphics subsystem can also be connected to the system bus 1121 In addition a monitor or other type of display device can be connected to the system bus 1121 via an interface such as output interface 1150 which can in turn communicate with video memory In addition to a monitor computers can also include other peripheral output devices such as speakers and or a printer which can also be connected through output interface 1150 The computer 1110 can operate in a networked o
45. su alization system to present a model of the servo driven mecha tronic system in operation FIG 7 illustrates an embodiment of a visualization system for simulating the tuning effects of a servo driven mecha tronic system where a storage component allows the visual ization system to store preconfigured and user databases simulation models and simulation results FIG 8 illustrates a methodology of a servo driven mecha tronic system where the user configures the components of the system FIG 9 illustrates a methodology of a servo driven mecha tronic system where the user decides on the type of database search to conduct FIG 10 illustrates a methodology of a servo driven mecha tronic system where the user decides whether to include an axis stop component before running the simulation FIG 11 illustrates an embodiment of the servo driven mechatronic system depicting a typical computing environ ment FIG 12 illustrates an embodiment of the servo driven mechatronic system depicting the interaction between a servo driven mechatronic client and a database server US 8 255 197 B2 3 FIG 13 illustrates an embodiment of the servo driven mechatronic system depicting the interaction between mul tiple servo driven mechatronic clients FIG 14 illustrates an embodiment of the servo driven mechatronic system depicting a cascaded control loop struc ture DETAILED DESCRIPTION Systems and methods are provided enabling the user
46. te memory storage device It should be appreciated that the network connections shown and described are exemplary and other means of establishing a communications link between the computers can be used FIG 12 is a schematic block diagram of a sample comput ing environment 1200 within which the disclosed and described components and methods can be used The system 1200 includes one or more client s 1210 The client s 1210 can include hardware and or software for example threads processes computing devices The system 1200 also includes one or more server s 1220 The server s 1220 can include hardware and or software for example threads pro cesses computing devices The server s 1220 can house threads or processes to perform transformations by employ ing the disclosed and described components or methods for example Specifically one component that can be imple mented on the server 1220 is a security server Additionally various other disclosed and discussed components can be implemented on the server 1220 One possible means of communication between a client 1210 and a server 1220 can be in the form of a data packet adapted to be transmitted between two or more computer processes The system 1200 includes a communication framework 1240 that can be employed to facilitate commu nications between the client s 1210 and the server s 1220 The client s 1310 are operably connected to one or more client data store s 1250 that can
47. tion software if the intended design fit within the constraints of the simulation software Even for those designs meeting the nar row constraints of the general simulation software the task was difficult because of the requirement of large amounts of design information that was unknown at design time The large expense and specific requirements of this type of system has created market pressure for a system that can simulate a servo driven mechatronic system for allowing the selection of components to build the system without the necessity of prototyping the machinery or knowing many of the system dynamics details In another aspect market pres sure requires ease of use of the simulation system with regard to knowledge of servo driven systems There is a need in the market for a system that is aware of currently available hard ware and configurations and does not require the user of the system to provide all the intelligence of what hardware to select and what parameters to configure and their values SUMMARY The following presents a simplified summary in order to provide a basic understanding of some aspects described herein This summary is neither an extensive overview nor is intended to identify key critical elements or to delineate the scope of the various aspects described herein Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description presented later The innovation includes a
48. to configure a servo driven mechatronic system allowing the user to select hardware components and operating conditions from a database and simulate the operation of the servo driven mechatronic system The simulation and analysis can infor mation can then be used to design a servo driven mechatronic system that meets the system requirements with a minimal amount of lead time and expense The user can also select a preconfigured servo driven mechatronic systems as a basis for designing their intended system The created servo driven mechatronic systems can be communicatively distributed to data servers or other servo driven mechatronic systems to provide a larger database of possible preconfigured process problem solutions In one aspect of the subject disclosure the preconfigured database represents the accumulation of servo driven system knowledge collected from empirical system operation and control system databases In another aspect of the subject disclosure as the servo driven mechatronic systems require change the simulation system provides for a method ofevalu ating new equipment before it is purchased and added to the system It is noted that as used in this application terms such as component display interface and the like are intended to refer to a computer related entity either hardware a com bination of hardware and software software or software in execution as applied to an automation system for industr
49. to provide integrated functionality Any components described herein may also interact with one or more other components not specifically described herein but generally known by those of skill in the art In view of the exemplary systems described supra meth odologies that may be implemented in accordance with the described subject matter will be better appreciated with ref erence to the flowcharts of the various figures While for purposes of simplicity of explanation the methodologies are shown and described as a series of blocks it is to be under stood and appreciated that the claimed subject matter is not limited by the order of the blocks as some blocks may occur in different orders and or concurrently with other blocks from what is depicted and described herein Where non sequential or branched flow is illustrated via flowchart it can be appre ciated that various other branches flow paths and orders of the blocks may be implemented which achieve the same or a similar result Moreover not all illustrated blocks may be required to implement the methodologies described herein after In addition to the various embodiments described herein it is to be understood that other similar embodiments can be used or modifications and additions can be made to the described embodiment s for performing the same or equiva lent function of the corresponding embodiment s without deviating therefrom Still further multiple processing chips o
50. trating the decelera tion time and distance based on the drive and power selec tions The user can choose to add a resistive brake module at 1002 Ifthe user selects axis stop desired then at 1004 the user is presented with a graphical display for selecting a start velocity based on either the maximum application velocity or the maximum motor velocity The user can then select the load data as either the mechanism data or a user defined load The user then instructs the servo driven mechatronic system 100 to selecta resistive brake module and the system responds with the appropriate resistive brake module FIG 11 thus illustrates an example of a suitable computing system environment 1100 in which the claimed subject matter may be implemented although as made clear above the computing system environment 1100 is only one example of a suitable computing environment for a mobile device and is not intended to suggest any limitation as to the scope ofuse or functionality of the claimed subject matter Further the com puting environment 1100 is not intended to suggest any dependency or requirement relating to the claimed subject matter and any one or combination of components illustrated in the example operating environment 1100 With reference to FIG 11 an example of a remote device for implementing various aspects described herein includes a general purpose computing device in the form of a computer 1110 Components of computer 1110 can include
51. tures may become apparent from the following detailed description when considered in conjunction with the drawings BRIEF DESCRIPTION OF THE DRAWINGS FIG 1 illustrates an embodiment of a visualization system for simulating the tuning effects of a servo driven mecha tronic system FIG 2 illustrates an embodiment of a visualization system for simulating the tuning effects of a servo driven mecha tronic system where an interface component allows the col lection of automated data and manual data FIG 3 illustrates an embodiment of a visualization system for simulating the tuning effects of a servo driven mecha tronic system where a visualization component allows the selection configuration and display of servo driven mecha tronic system components FIG 4 illustrates an embodiment of a visualization system for simulating the tuning effects of a servo driven mecha tronic system where a database access component allows the selection and searching of system and user databases FIG 5 illustrates an embodiment of a visualization system for simulating the tuning effects of a servo driven mecha tronic system where an analysis component allows the selec tion configuration and analysis of equipment and configura tion associated with a servo driven mechatronic system FIG 6 illustrates an embodiment of a visualization system for simulating the tuning effects of a servo driven mecha tronic system where a simulation component allows the vi
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