What's New

Below is a list of highlights of new features and enhancements. For all the details, please see the Revision Log.

Version 4.6.500

CAM Rotary Mechanism (Pro version)
- Added CAM Rotary mechanism that models a CAM Driven Rotary table
- The CAM is defined in a table that can be defined manually or imported from another too
- The CAM Efficiency can be defined as a formula based on the CAM & Table angle, speed and max speed
Winder Center & Winder Surface Driven
- Added Hanging Load without Spooler
- The Hanging Load is available for both the Winder Center & Winder Surface Driven mechanisms
- Note: Spooler with Hanging Load existed since the initial v4.6 release on Aug 1st, 2024
Gearbox Shaft Loads form
- Added % transmitted Radial & Axial force
Add/Edit Forms
- Formula Tester added for each formula in the Add/Edit forms including
  - Infeed [Cmax]
  - Inverter [kFrml]
  - Gearbox [Eff_Frml]
  - Pump [Q, Ql, M, L]
Import Sequence
- When importing Time vs Velocity or Time vs Velocity & Accel data and Payload, Thrust & Torque/Force is selected, now allow option "Add to Payload" inertia. This can be useful when importing a motor trace and use a negative "Add to Payload" value to remove the motor inertia torque from the imported trace.
Sequence form
- Increased the max number of chart profiles from 6 to 10
- Improved mechanism images in the Sequence and Power vs Time forms when the chart crosshairs is selected. The purpose is to help visualize the mechanism orientation and how it moves when the crosshairs are moved throughout the motion sequence.
  - Rotary & CAM Rotary: Improved
  - Linear Belt Actuator: Now supports 'Pusher' type
  - Winder Center Driven: Now supports Hanging Load
  - Winder Surface Driven: Now supports Hanging Load
Help
- Added Gearbox Resonance Frequency page

Version 4.6

Linear Belt Actuators
- Added Linear Belt Actuator with all sizing considerations including:
  - Belt Max Tensile Load
  - Cart Mass
  - Mass Distance from Cart
  - Max Load Limit Moment
  - Load Max Limit
  - Force vs Speed performance chart
Added Mechanisms in Parallel (n>1) support for
- Linear Belt Actuator
- Conveyor
Sequence form
- When the Rated profile is displayed, the rated profile is shaded in the "margin" area underneath. Eg. If the Motor Peak Torque Margin = 10%, then the motor Tmax rated profile is drawn with a shaded region 90-100% of Tmax. This helps users see how close the application profiles are to the user specified margin.
- When a Winder Spooler, now display the Spooler as a second dynamic image when the chart crosshairs are selected
- Chart Profiles
  - Added Bleeder/Chopper Current Profile to Sequence chart
  - Added Inverter Output Frequency [fHz] profile to Sequence chart
  - Changed Ixt legend display to Ixt0, Ixt1, Ixt2 and same for Pxt0, Pxt1, Pxt2
  - Motor [Vz] profile
    - Now also draw the actual [Vz] profile, which is helpful to see if the Motor.Vz > Drive.Vz0, as well as helpful to isolate if/when Motor.Vz > Drive.Vz during Backup Power Mode
- Import Sequence
  - Added Scale Factor drop down lists (1 or -1) for the Thrust and Torque/Force vector columns, providing the option to invert all values in each column when ScaleFactor = -1
  - When imporing a Sequence, now when the number of segments exceeds the maximum allowed, the source data is "down sampled" by taking every nth segment to fall under the allowed maximum
  - When importing an Import Trace, the maximum samples allowed is 2000. When the source data exceeds the maximum allowed, the source data is "down sampled" by taking every nth segment to fall under the allowed maximum
- When opening KB Sequence, no longer use MsgBox, instead display at top of the form "Kinetic Buffer: All sequence edit functions disabled"
- When opening APM Sequence defined by another PG, no longer use MsgBox, instead display at top of the form "Sequence cannot be changed because it is defined by PGx. All edit functions disabled."
Added Profile Type Sinusoidal² and Move Rules 1/5 & 1/10
- Added new profile type "Sinusoidal²
- Added 1/5 & 1/10 motion rules for all profile types
  - The 1/2 & 1/3 rule buttons are now changed to a drop-down list to accommodate all rules.
  - The 1/5 and 1/10 rules are especially helpful in applications where the move is defined as Time/Distance and the max velocity is calculated while maintaining the motion rule.
Conveyor Mechanism
- Added support for multiple mechanisms in parallel
- Added inputs to align with new Linear Belt Actuator mechanism
  - Cart Mass
  - Mass Distance From Cart
  - Max Load Limit
  - Moment Load Max Limit
- Added Force vs Speed performance chart
Ball Screw Mechanism
- When Screw is rotating and the Nut is moving linearly, now the screw output force is transmitted through the mechanism as an Axial force as an Axial Load on the gearbox output bearing. This is helpful in sizing gearboxes in hexapods with electromechanical linear actuators/ ball screws. The axial forces of the ball screws are supported by the gearbox bearings.
Rack & Pinions
- Added Stober Rack & Pinion Sizing Rules
- Added [P_Typ1] field in RacksPinionsFeedForce table, which adds support for the Pinion Input Type [P_Typ1] as part of the combination variables that determines the Rack & Pinion FMax.
Rack & Gearbox Pinion Mechanism form
- Under the Limits tab, now display Gearbox Pinion Nominal Force, and Rack & Pinion Max Force and Max-Stop Force
Rack & Gearbox Pinion performance
- Add drop down list to view only the "Gearbox" or "Rack & Pinion" as well as the complete combined product "Rack & Gearbox Pinion"
Motor Linear Actuator performance
- Add drop down list to view only the "Motor" or "Linear Actuator" as well as the complete combined product "Motor Linear Actuator"
Position Based Load
- Added Thrust and Torque scale factors
Motor Model
- Motor I2t Model Low-Speed De-rating
  - Added motor I2t low-speed de-rating when the motor's electrical frequency <= 5Hz
  - The I2t model de-rates the rated torque starting at 0rpm with Io/SQRT(2), using an exponential model up to 5Hz
  - The inhomogeneous heat dissipation region, is defined from 0rpm up to [nh] where [nh] is calculated using 5Hz and the motor number of pole pairs
  - The same approach is used for Linear Motors except using the pole width [m]
- PMSM
  - Improved support for IPMSM with Ld<>0, which now includes Reluctance Torque
  - This part of the motor model is still noted as 'beta' as still working with vendors to further refine the model
Motor Database Selection form
- Added "I2t" filter
Gearbox Torque Based Efficiency using Efficiency Formula
- When the Formula [Eff_Frml] checkbox is enabled, the Gearbox efficiency allows for a formula that can be a function of Input Speed [n] and Output Torque [T], allowing for more accurate efficiency modelling under different torque loads.
- The standard Efficiency vs Speed curve remains for backwards compatibility and when Formula [Eff_Frml] is not used.
Energy Storage Modules: Added 'Droop Curve' Control Mode
- Added 'Droop Curve' in addition to the existing 'Voltage Threshold' control.
- The Droop Curve configurable parameters appear in a drop-down added at the top of the Power vs Time form.
- The Droop Curve defines the control characteristics for the ESM defining the relationship between the DC Bus Voltage [Vz] and Current [Iz].
- Worth noting in the database
  - Changed Capacitance field name from [C] to [Cc] to clarify capacitance on the ESM capacitor side
  - Added a new field [Cz], for capacitance on the DC Bus, allowing for ESMs that have capacitance on the DC Bus side
Enhanced DC Bus Modelling where [Vz] Dips in Normal Mode
- In Normal mode, when Supply Peak Power Optimization (Pro version) is enabled, the DC Bus Voltage [Vz] is allowed to drop below the Nominal Bus Voltage [Vz0].
- Applies in all cases, with or without an ESM and/or KB on the DC Bus.
- But why is [Vz] allowed to drop only when Supply Peak Power Optimization is enabled?
  - Because something must "give".
  - When Supply Peak Power Optimization is enabled, the peak power limit of each Infeed Module "holds", and any additional power comes from the DC Bus, and then [Vz] decreases.
  - When Supply Peak Power is disabled, then [Vz] "holds" at [Vz0] and then any additional power comes from Infeed Module.
Enhanced DC Bus Modelling where [Vz] Dips in Backup Power Mode
- In Backup Power mode, the DC Bus voltage [Vz] is allowed to drop after the ESM and/or KB run out of energy.
- Previously in v4.5 and ealier, once the ESM and/or KB ran out of energy, Backup Power mode stopped and did not continue to run down the DC Bus.
- Now with the added capability, there are 3 tiers of backup power - ESM, KB and then the DC Bus CM bank.
- Note this applies if Supply Peak Power Optimization is enabled or disabled since the Mains Supply is gone in Backup Power mode.
Optimizer: Suggested Paramaters & Other Enhancements
- Now list suggested parameters before applying them, allowing the user to see the parameters clearly before all the fields are populated
- Added "Supply Peak Power" & "Supply Cont Power" optimization targets for Single Axis Optimization
- Improved handling of Additional Constraints allowing the Optimizer to work through "tough" Additional Constraints and not "give up" too quickly
- Additional Constraints
  - Added Mechanism Utilization Constraint used for Master Axis Optimization
  - Added Mechanism Constraints for Max Torque/Force Margin and Max Speed Margin
- Add/Edit Constraints
  - Now Pre-fill initial values in the Min/Max textboxes when new Additional Constraint type is selected of type Margin (10-100%) or Utilization (90-100%)
Infeed Modules
- Max allowed DC Bus Capacitance formula (guard against high inrush current)
Inverter Ixt Thermal Overload Model
- Added Ixt_kFrml for each Ixt0, 1 & 2 in each Inverter PWM Frequency, fs0, 1, 2 & 3
- Ixt_kFrml is applied to the Ixt Fast Slow model, using the Inverter Output Frequency [fHz] and DC Bus Voltage De-rating [Vzdr] variables
- Ixt_kFrml formula can be used at any frequency range
System Check
- Added new Warning message when Vz < Vz0
  - "Bus voltage [Vz] < Nominal bus voltage [Vz0]. Contact vendor for approval"
- Conveyor
  - Added message if Max Load is exceeded
  - Added message if Moment Load Max is exceeded
- Ball Screw
  - Now when "Total travel distance exceeded" alarm occurs, the mechanism overall Utilization bar turns red (critical), but the overall value is not changed
- Linear Actuator
  - Now when "Total travel distance exceeds screw length" alarm occurs, the mechanism overall Utilization bar turns red (critical), but the overall value is not changed
- Conveyor
  - Now when "Max travel limit exceeded" alarm occurs, the mechanism overall Utilization bar turns red (critical), but the overall value is not changed
- Linear Axis with Incline
  - Improved messaging when Motor Brake is not enabled and the application has a holding torque at standstill
- Rotary Axis with Unbalanced Load
  - Added new message when an unbalanced load causing a holding torque at standstill and the Motor Brake is not enabled
Bill of Material
- Added additional values for ESM EMs including Vcmax, Imax & Icont
Print Report
- Print Config
  - Added option to chart each Power Group's Power Chart using the last chart configuration used in the Power vs Time Chart form
Database
- Prevent Losing Add/Edit Product Data
  - Added 'Database AutoBackup' feature to capture all product data entered manually into the database using the Add/Edit forms
- Added multi-language support for [DocPath] urls
  - Allows urls linking to product information can be language dependent
- - For example, if the active language is English, German or Italian, then the resulting DocPath links are:
    - www.companyname.com/en/drives/ProductABC.pdf
    - www.companyname.com/de/antrieben/ProductABC.pdf
  - www.companyname.com/it/azionamenti/ProductABC.pdf
  - This is accomplished by defining Language Variables in the Vendors database table under a new column named [DocPathLangVars].
License Activation Wizard
- Added back Email option to make a license request, now using a web form that is pre-populated by the wizard
  - Simply click 'Submit' button on the web form and the license request is sent to the web server
  - Requires Internet access by the License Activation Wizard
Help
- Mechanism pages
  - Updated and simplified all mechanism formulae
  - Defined effiency and direction factor based on quadrant, then consolidate formulae to one set for all quadrants
  - Added Force/Torque vector to formulae
- Gearbox Efficiency page
  - Added new section explaining in the new Efficiency formula and a very detailed example of how to create a formula using Excel and its Trendline feauture
- Cart Mechanism
  - Added section "Wheel No Slip Margin" explaining what it is and its formula
- Energy Storage Solution page
  - Added 'Voltage Levels' section explaining the proper order of voltage levels for proper ESM operation
  - Added 'Supply Peak Power Optimization' link under the 'Bus Modules > Energy Storage Solution' folder
- Optimizer
  - Added Insert Smoothing Segments page
- Added Combined Products page

Version 4.5

Supply Peak Power Optimization (Pro version)
- Added option to add/subtract DC Bus [Cz] and/or ESS [Cess] capacitance for quick scenario analysis
- Also added ability to find optimal [Cz] and/or [Cess] to quickly find the optimal capacitance to minimize supply energy
Added Mechanisms in Parallel (n>1) support for
- Ball Screws
- Rack & Pinions
- Rack & Gearbox Pinions
- Two Pumps
Motor Model
- The motor phase current [Iph] and power factor [PF] are changed so that [Iph] is always positive, and the [PF] now changes to negative when the motor is generating power back to the drive. Previously, it was the other way around.
All Feature sets
- Enabled [Iq] and [Id] phasors as option to display in Sequence chart. Previously only enabled for Advanced & Pro versions.
Print Report
- Rack & Pinion mechanism now organizes Rack data under its heading, and Pinion data under its heading
- Shade all affected cells when more than 1 mechanism/transformation/motor/drive in parallel. Ie. n>1.
- See Mechanisms in Parallel: Print Report
Max-Stop Mode
- In the Sequence form when in Max-Stop mode, select the crosshairs and right-click and select Start Max-Stop here to specify the Max-Stop ramp for the active axis or all axes in the Power Group
Move form
- Extended profile type "Sub-Segment" to a fully flexible Jerk-Linear-Jerk ramp segment
- Ie. Specify any portion of a standard Linear profile by specifying the Jerk, Start & End Velocity and Start & End Acceleration
- Previously, only the linear, Start Jerk ramp or End Jerk ramp portion could be specified in one Sub-Segment
- This exteneded capability allows for a continuous spline using a standard jerk profile without the need for polynomials
PMSM Field Weakening UI
- For PMSMs, when the Motor FW curve is used, now display "FW" beside the Bus Voltage value. If field weakening is applied to the motor where the application profiles (green) cross over into the shaded FW zone, the "FW" text is highlighted in pink, the same colour as the pink shading of the motor FW zone in the chart. The same display is also done in the Main form beside the bus voltage drop down list.
PMSM
- Added database field [Ld] "Stator d-axis inductance" for PM salient machines
Position Based Load
- Added ability to edit table data including add/delete rows, edit cell values
- Applies to Rotary and Slider Crank mechanisms
  - Slider Crank
    - When motion defined at the Crank, added the option to specify "360deg Modulo"
Linear Mechanism forms
- Moved the Incline input under the "Load" tab
- Applies to Conveyor, Ball Screw, Rack & Pinion, Cart, Slider Crank, etc.
Ball Screw Mechanism
- Added Nut Roller Inertia input, used when the screw is rotating and the nut is stationary
- Added Screw Dynamic Load Rating [Ca] as an input under the Limits tab for a user-defined ball screw, thereby allowing for liftetime calculations for a user-defined ball screw
- Added drop down list for suggested mechanism efficiency values
  - Ball Screw: 95% (typ. 70-95%)
  - Roller Screw: 90% (typ. 70-90%)
  - Lead Screw: 65% (typ. 35-65%)
- Added the following parameters to the Ball Screw performance data displayed on the Main form, consistent with the Performance form and Print Report
  - Equivalent dynamic load
  - Stroke
  - Lifetime (distance)
  - Lifetime (cycles)
  - Lifetime (hours)
Add / Edit Rack & Pinion form
- Added buttons to list all Racks or Pinions using the same combination parameters, along with the variables that are different such as rack length
- For those vendors that publish Rack & Pinion product data, this is a huge improvement that will help quickly isolate product data issues.
Command Line Interface
- Added the ability to set the Operating Mode in the command line
Command Line Print to File
- Added the ability to set the Operating Mode in the command line
Database Utility
- Added extensive combinations checking for Racks, Pinions, FMax database tables. For those vendors that publish Rack & Pinion product data, this is a huge improvement that will help quickly isolate product data issues
- Added check if [DocPath] field is numeric with message "Invalid url". This will catch the scenerio where perhaps the [ProductZone] value was mistakenly entered in the [DocPath] column.
Help
- Overload Monitoring
  - Added formulae for Infeed Pxt, Inverter Ixt, Bleeder Bxt, ESM I2t and Motor I2t models
- Motor Models
  - Added PMSM Phasor Diagrams
- Added the following pages
  - Mechanisms in Parallel
  - Ball Screw Lifetime

Version 4.4

Added Auxiliary Power Module (Pro version)
- Adds "Power vs Time" Sequence and Cascaded Power Groups
- Allows for "Cascaded Power Groups" where an Auxiliary Power Module feeds the DC Bus power to another Power Group (Pro version)
Added Kinetic Buffer (Pro version)
- Kinetic Buffer axis stores and/or absorbs energy in a rotating disc to help manage the DC bus during a mains supply loss
- Model a machine to come to a controlled stop or continue running through an intermittent loss of power
Added new concpet of Operating Modes
- Added Backup Power Mode, allowing for users to define a specific sequence when the mains supply power fails
Supply Peak Power Optimization (Pro version)
- Added full support for Energy Storage Modules to find the minimum supply peak power including constant supply power when possible
- Changed from Peak Factor to absolute Max Supply and Max Regen values
- Added Regen Peak Power so can control Supply and Regen power flow separately
- Added new solution Type: "Lowest Pmax with No Regen"
- Added Target Bus Voltage range [Vt0 - Vt1], where previously there was only Vt0
Cart Mechanism
- Added new tab called "Traction"
- Added new concept using "Spring Normal Force" or suspension for the driven wheels. When using the Spring Normal Force, the Applied Traction Force is not used
- Added the option to include the Applied Traction Force in the Radial Force calculations [Fr] for gearbox output bearing sizing
- Moved Lever Arm and other friction inputs under the "Traction" tab
- The Gravity force for the Radial Force calculation now uses the Percentage Weight Over Driven Wheels instead of equally distributing the weight across all wheels
- Added check if No. Driven Wheels > No. Wheels
Dual Rack & Conveyor Mechanism
- Updated images on Main and Mechanism forms, Print Report and Help page
- Re-organized formulae on Help page so easier to understand
- Calculation results remain unchanged
Extended Project View Only Mode
- Performance charts now viewable in "View Only Mode" for Power Groups, Motors, Transformations, Gearbox, Gearbox Shaft Loads, Actuators and Mechanisms.
- This allows users with less capable feature sets view to more detailed performance data from projects created by Advanced and Pro versions. Further, this change allows vendors to better support their customers when using their Pro version to better size/optimize a customer's Manufacturer version project, that can then share with their customer.
Sequence Shaft Loads
- Added X2 & Y2 offsets for each move segment that are used to calculate the tilting moment at the adjacent gearbox output
- Allows for much more detailed tilting moment calculations for sizing gearbox output stage bearings
Power vs Time form
- Display "Bus Voltage" profile when no Energy Storage Solution
- Added DC Bus Power Profile, and moved the Bus Energy Y Scale to the right side of the chart
Add Edit Rotary Motor form
- Added support to generate AM parameters based on nameplate data and Mn & nN
Move form
- Added "Motoring at standstill" checkbox
  - Provides the option to specify the mechanism is "Motoring", meaning that it is applying the Thrust/Torque/Force, and therefore, the efficiency is [1/n]
  - When unchecked, the mechanism efficiency is [n]
Optimizer PRO
- Added new optimization target, Motor I2t, allowing the optimizer to minimize the motor's I2t
Print Dialog
- Add checkbox "Include Page Numbers" to either include or exclude page numbers in the header and footer. This was requested so vendors can generate a "partial" report with some but not all pages in the original report and include only what they need without causing confusion about excluded pages. "Include Page Numbers" is enabled by default when creating the initial print report.
Vendors tables
- Now allow up to 2000 characters in the [Address] field, to allow multiple office locations
- Added support for Product Zone variables - Z1, Z2, Z3, etc. - where one zone can be defined by one or more other zones.
  - Eg. "Z3: Z1, Z2, 826", which means the countries in Z1 and Z2 as well as the UK.
  - Note that the ProductZones supported since v4.0 - v4.3 are also supported for backwards compatibility. Only when "Z" is used, is v4.4 format assumed.
Gearbox Sizing
- Added support for resonance frequency as part of sizing rules
Database
- Gearboxes
  - Added Typ = 10 = "Strain Wave Gear"
  - Added Typ2 = 4 = "Hollow Bore Flange"
  - Added Lh2type = 3 = "HD" that uses Operating Factor (fw)
  - Added new column "Torsional Rigidity for Resonance Frequency calculation" [Ctf2]
  - Added new column "Bearing pitch circle diameter at output" [dp2]
System Check
- When field weakening is applied to the motor, the message "Field weakening applied to the motor" is displayed. Now added to this message "Contact vendor for the drive configuration parameters needed for field weakening"
- Added new "Help" column, where when the help icon is displayed, indicates the associated help topic is available by clicking on the help icon
License Activation Wizard
- Added "Save to File" button to save a license request to a text file that can be emailed to the license server
ACT NW License Servers:
- Now support ACT NW licenses in addition to DGL NW
- This makes Network License Servers (NWLS) easier to configure as Virtual Machines since there is no need to connect to a physical dongle plugged into a USB port
- ACT license mechanism is bound to the h/w & s/w signature of the server, and expires at the License Ends date
Installer
- Windows 32-bit no longer supported
Help
- Added new pages
- Cart Mechanism
  - Added clarifying note that the Applied Traction Force [Ftr] is "a clamped force, for example in rail systems"
  - Added several detailed diagrams and text to explain how the traction and friction forces are calculated
- Dual Rack & Conveyor Mechanism
  - Updated image and re-organized formulae so easier to understan
- Linear Motor Mechanism
  - Added "Total Travel Distance" section explaining how this value is used
- System Requirements
  - Changed Minimum Requirements from Windows 7 64-bit to Windows 10 64-bit
  - Added Windows 11 support
  - Increased to 8GB RAM minimum and 16GB RAM recommended
- Common Tasks
  - Organized "Common Tasks" into subfolders
- Organize Infeed, Bleeder, Capacitor, ESM and APM modules in "Bus Modules" folder

Version 4.3

Added Master-Follower Mode (Pro version)
- Master-Follower mode defines the motion sequence for each Follower axis with respect to its Master axis position
- Based on a Virtual Master with Modulo Distance and Time
- Supports Master Sequence with Constant Velocity and Variable Sequence for dynamic scenarios such as Max-Stop mode
Optimizer PRO (Pro version option)
- Added Optimize Master-Follower, which optimizes an entire Power Group in Master-Follower mode with either a Constant Velocity or Variable Sequence Master
- Added new optimizer targets "Supply Peak Power" and "Supply Cont Power (efficiency)" (Master-Follower)
- Added "Power Group Utilization" constraint (Master-Follower)
- Added new Transformation, Motor, Inverter, Infeed and Bleeder constraints
Added Command Line Interface (Pro version option)
- The Command Line Interface is a new option that can be ordered with the PRO version that allows an external optimization tool to take control of SERVOsoft and utilize the Sequence Auto Update feature
- The external tool can be a profile generator, program, spreadsheet, or an optimizing tool that adjusts the Sequence with each iteration
Added Command Line Print to File (Pro version)
- The Command Line Print to File allows other tools to command SERVOsoft to generate print reports of existing project files
- Supported file formats are PDF and TXT
Added Supply Peak Power Optimization (Pro version)
- Supply Peak Power Optimization is for Shared Bus Power Groups
- Target Bus Voltage and Infeed Peak Power Reduction inputs are combined to optimize/reduce/smooth the Infeed peak power from the Mains Supply
Transformations Database
- Expanded Coupling database to Transformation database allowing for 'Gear' and 'Belt & Pulley' products stored in the database
- Built with option for future transformation types including Shafts, Torque Limiters, Brakes, etc.
Linear Actuators
- Added support for 'Transformation Linear Actuators' where the transformation can be any transformation type including 'Gear' and 'Belt & Pulley'
- Added support for 'Motor Transformation Linear Actuators' where the transformation can be any transformation type including 'Gear' and 'Belt & Pulley'
Main form
- When Switching to Max-Stop mode, if the existing Max-Stop sequences are empty, the user is asked to copy all Sequences to the Max-Stop Sequences
- Added "Split/Combine" feature for Combined Products to split into separate products, and combine them into one product. Applies to Gearbox Pinions, Transformation Linear Actuators, Motor Pumps, Motor Linear Actuators, Gear Motors, Drive Motors and Drive Gear Motors
Sequence form
- Added support to Export/Import Load Formulae
- Added Load Power profile, which is the power applied to the load
Move form
- Now always display the Start Time / Master Start Position and Start Position for all moves
- Now allow Segments with "Zero Velocity Crossover"
- Added Load Force/Torque, which is a vector independent of the direction of motion
- Added Sequence Shaft Loads Fr, Fa, rUL & mUL (available only for Rotary mechanism)
Education, Lite & Manufacturer Versions
- Added Thrust/Force/Torque Proportional to Speed formula
- Added Sequence Templates
System Power Flow Details
- Now the displayed Mechanical power is the power at the Load. Ie. the power used to move the load.
- For Servo Pumps, it is the Hydraulic Power.
- In v4.2 and earlier, the power values were at the Mechanism Input
Slider Crank mechanism
- Position Based Load added to Slider Crank mechanism (Pro version)
Pumps
- Renamed "Motor Coupling Pump" feature to "Motor Pump", as most vendors do not use a coupling. When a Coupling is used, then it is displayed as a "Motor Coupling Pump".
- Added support for multiple Pumps in parallel and multiple Motor Pumps in parallel
Drives & Bleeder Modules
- Added support for multiple External Bleeders per Drive
Power vs Time form
- For Stand Alone axis applications, added Axis drop down list to quickly focus on the chart profiles of the selected axis
Charts
- Added CTRL + Mouse Scroll Up/Down using the mousewheel to zoom in/out on any chart
Installer
- Added language support for FR, IT, ES, TR, ZH & JA (in addition to EN & DE)
Help
- Added new pages
- Motor Torque vs Speed
  - Added Field Weakening (FW) zone in Drive Curves section
- Bleeder Module
  - Added details for the Bxt Overload Model formula in the Calculations section
- Optimizer
  - Updated page with the new additional constraints for Transformation, Motor, Inverter, Infeed and Bleeder
- Improved Look and Feel
  - Added collapsible sections to many pages to consolidate and focus the reader
  - Improved display of "Tips" and some "Notes" to help clarify when a feature is available in specific version(s)

Version 4.2

One install package and one program for all versions and license types (ACT/DGL/TS)
- When the program starts, it finds all licenses
- If more than one license is found, then the user is prompted to choose a license
Project View Only Mode:
- Added "Project View Only Mode" when opening a project using features not enabled in current version. The Main form is essentially locked down so the user can see the project layout and general performance values on the Main form. Otherwise all other features are locked/disabled. The user still has the option to open the project as before with the disabled features' inputs removed.
Rotary Mechanism:
- Added Position Based Load (Pro version) where users can import a table of Position, Inertia, Thrust & Torque, where Torque is a vector
Options form:
- Added Text Size Factor to increase or decrease the text size throughout the entire program
Main form & Project Structure
- The ADVANCED and PRO versions now allow multiple Motors, Transformations, Gearboxes and Linear Actuators as well as multiple Drives, Infeed, Bleeder and Capacitor Modules in parallel in the same axis/slot (1-6)
- The Axis view now shows the Drive Bus, Chopper & Bleeder performance in addition to the Inverter performance values
- Added support to double-click the large images on the Main form as same short cuts when double-clicking the tree nodes
Pumps:
- Added support for Variable Displacement Pumps
- Added "Flow Leakage" and "Power Loss" profiles in Sequence Chart
- Added "Mean Flow Leakage" and "Mean Power Loss"
- Now chart dP vs Q on the X scale because Q is largely proportional to speed
Sequence form:
- Increased Sequence Maximum Segments from 500 to 2000 for the EDUCATION, LITE and all Manufacturer versions
Bleeder Calculations:
- Added Bxt overload thermal model
Drive & Motor Performance Chart:
- Added chart toolbar button to show 1 or 2 Quadrants (Advanced, Pro versions) more...
- When the chart Crosshairs are enabled and the user right-clicks to snap the Crosshairs to the nearest data point, now the segment is highlighted and a tooltip also appears with information about the data point, allowing the quick detailed analysis of all torque/force vs speed performance charts.
Rotary & Linear Motors:
- Added [VbusMax] field, which is the "Max allowed DC bus threshold voltage"
- System Check uses VbusMax to ensure the motor is not connect to a bus voltage above what is allowed. Specifically, the check is if the DC bus Threshold Voltage > VbusMax, then a System Check alarm occurs.
- [VbusMax] can also be used in database selection to filter motors below, above a max voltage limit.
Combined Products Database form:
- Added 'Check Combinations' report for "sub-Models" in the Combined Products table. After the report runs, two new columns are added, identifiying any "sub-models" that do not exist in the main tables, along with the specific details of the missing data. For example, for a Gear Motor, perhaps the motor model does not exist in the Motors table. This report was created to address this issue. Works for all combinations including Drive Motors, Motor Linear Actuators, Motor Coupling Pumps, Gearbox Pinions, etc. A similar report was also added to the Database Utility. This goes a long way in helping vendors manage their product data in the SERVOsoft database.

Version 4.1

Version 4.0

Project Configuration
- ADVANCED version increases from 5 to 9 axes
- PRO version increases from 40 to 50 axes
- Multiple Power Groups (Pro version)
- Up to 3 Infeed Modules per Power Group
- Up to 3 Bleeder Modules per Power Group
- Up to 3 Capacitor Modules per Power Group
Energy Storage Modules for KOCH Products more...
- DES, DEV & DEK products
- DSM & DLC (super capacitors) products
- (Advanced, Pro and some Manufacturer versions)
Optimizer Pro:
- Added 'Motor Peak Torque Margin' target, which optimizes to a target margin value
- Added support for 'complex splines' with up to 3 different profile types in one spline
- Added two new constraints - 'Start Accel = End Accel' and 'Start Jerk = End Jerk'
- Added 'Curve Fitting' more...
  - Optimizer works within the drive, motor, gearbox, and/or mechanism rated curve(s)
  - And then generates the resulting motion profile at the load
Mechanisms
- Two Servo Pumps driven by one Motor (Pro version) more...
- Servo Pump (standard in Pro version, was an Option in v3)
- Ball Screw Database (Lite, Advanced & Pro versions)
- Cart Mechanism (Advanced & Pro versions) more...
Sequence form:
- Added option to display the motor current phasors, Iq & Id (Pro version)
- Display diagram of the Rotary mechanism when the chart crosshairs are selected
- Display diagram of a Rotary Knife mechanism when the chart crosshairs are selected using the 'Rotary Knife' template
- Quick Import Sequence (Advanced & Pro versions)
Import Sequences:
- Added support to import 'Time, Velocity and Accel' table data
Move form:
- Added "Accel Capped" feature, which calculates Start & End Jerk values to minimize the maximum acceleration for the Poly1-7 profile
Database forms:
- Re-order columns, set grouped columns, and then save as the "Default View"
Performance Improvements:
- Further improved the calculation performance up to 3.5x wrt v3.3
- Further improved thrust and payload formula calculation performance to 1.6x faster wrt v3.3
- Project files open 20% faster, and some large project files open as much as 5x faster wrt v3.3
- Project files use compression algorithm resulting in 2-8x smaller file size
Utilization bars on all forms and print report
Language Options:
- Enabled all language options French, Italian, Spanish, Turkish & Chinese in addition to the standard language options English & German (Education, Lite, Advanced & Pro versions)
When loading a project, if products are not found, now wait until the entire project is loaded, and then provide a list of all products that are not in the database.
- Then users can select which products to be added to the database.
- By default, all products are checked.
- This is much more organized and more manageable, especially for large projects with 20-50 axes and perhaps 100 products that may not be in the local database.
Runs as 64-bit application on Windows 64-bit, allowing for better performance for large projects

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