Optimizer powered by SiMoLib    

The Optimizer plays with the motion profile variables velocity, accel and jerk, which are 'input' variables, and then compares the results of the optimized variable. As the Optimizer 'learns' the relationship between the input variables and the optimized variable, it zones in on an optima.

First select what you want to optimize such as in the example below, "Max Motor Torque". And then select one or more profile types to be used in the optimization run. In the example below Poly 1-3, Poly 1-5 and Poly 1-7 are selected.

Moves are handled individually. If a Segment ends with zero velocity or is adjacent to a Move, then it is also handled individually. For individual Moves and Segments, the Optimizer will optimize each separately. However, if a Segment is part of a series of 2 or more adjacent Segments where the end velocity of one Segment is the same as the start velocity of the next Segment, then this series of Segments is handled as a 'Group'. When the Optimizer works on a Group, it will optimize the entire Group, and also ensure the Group has continuity of velocity. If the Optimizer is working with Poly 1-3, Poly 1-5 or Poly 1-7 profile types, it will also ensure continuity of accel and jerk.

Constraints are simply a Min and Max range of acceptable values.

There are two types of constraints - input and output. Input constraints are limits on input variables, which are the motion profile variables duration, velocity, accel and jerk. For example, if the velocity must be limited between 1 to 2 m/s, then the Optimizer will play with velocity values only between 1 to 2 m/s.

An output constraint is a limited range of acceptable result values. For example, the motor peak torque is the 'result' of the input motion profile variables. A typical constraint might be to limit the motor peak torque to less than say 100 Nm.

In addition to the default constraints of duration, velocity, accel and jerk, additional constraints can be applied to one or more Moves/Segments/Groups. To open the Edit Constraints form, select one or more Moves/Segments/Groups, and then right-click and select 'Constraints > Edit' as shown. Here you can add constraints such as motor peak torque, motor RMS torque margin, drive peak power, etc. When the OK button is clicked, the constraints will be applied to all selected Moves/Segments/Groups.

Output constraints for the motion profile variables are shown with their Min & Max cells with light blue background    #####   . Because they are output constraints, you also have the option to not place any limits on them by leaving the Min & Max values blank as shown for the Accel values below.

Once all the constraints have been set, click the 'Start' button to start the Optimizer. As the Optimizer runs, it provides progress in the 'Results' column. Depending on the sequence, optimized variable, output constraints, etc., the Optimizer can run and finish in a matter of seconds, or take hours to complete.

At any time while the Optimizer is running, you can click the 'Break' button to end the process. The best results found up to that point are available to be applied to the Sequence. However, note that clicking 'Start' again re-starts the Optimizer from the beginning.

After the Optimizer is finished, on the far right column, you can select some or all of the results. Then click OK to apply the selected results to the Sequence.