Rockwell Automation Motion Analyzer User Manual
User Manual
Motion Analyzer Software
Version 7.00
Important User Information
IMPORTANT
Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety
Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1
your local Rockwell Automation® sales office or online at http://www.rockwellautomation.com/literature/
important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference,
and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the
use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
available from
) describes some
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, Kinetix, MP-Series, ProposalWorks, Rockwell Automation, Rockwell Software, RSLogix, TechConnect, TL-Series, and Ultra are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
This manual contains new and updated information.
Summary of Changes
New and Updated Information
This table contains the changes made to this revision.
Top ic Pa ge
Removed the Activation Wizard section. N/A
Added Group/Ungroup and Add Drive Group descriptions to the Home Tab section. 16
Updated Power Data, Shunt, and Energy tab examples for the
Power Supply/Accessories - Single-axis Drive Systems section.
Added Power Supply/Accessories – AC/DC Power Sharing Systems (Kinetix 5500 drives) section. 51
Updated the Output Format Selection dialog boxes in the Export to RSLogix 5000 Wizard section. 65
Added new Explorer View examples and updated the Drives Group Node description. 78
Updated the Solution List dialog box example. 209
Added Preferred Product section. 210
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Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012 3
Summary of Changes
Notes:
4 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012
Preface
About This Publication
Who Should Use This Manual
Conventions Used in This Manual
System Requirements
The versatility of Motion Analyzer software lets users of various application
complexities and experience levels use one software package to size their systems.
This manual is designed to accommodate basic users, advanced users, and
everyone in between.
This manual is intended for engineers directly involved in the selecting, sizing,
and optimizing of drives and motors or actuators for a motion control system.
The following conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
• Hyperlinks are embedded throughout this document so that you can easily
navigate to and obtain information that is relevant to your particular
application.
Motion Analyzer software requires the following operating conditions.
Attribute Description
Compute r hardware requ irements
Operating systems supported
Microsoft Office software supported
• Pentium IV processor
• 1 GB RAM minimum
• 1280x800 screen resolution
• Windows XP - 32 Bit (SP2)
• Windows XP - 64 Bit (SP2)
• Windows Vista - 32 Bit
• Office 2007
• Office 2010
• 500 MB free space in the
installation directory
• .NET Framework 2.0
• Windows Vista - 64 Bit
• Windows 7 - 32 Bit
• Windows 7 - 64 Bit
Additional Resources
These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
Download Motion Analyzer software from:
http://www.ab.rockwellautomation.com/motion-control/motion-analyzer-software
Kinetix Motion Control Selection Guide, publication GMC-SG001
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certifications website, http://www.ab.com
Comprehensive motion application sizing tool used for analysis, optimization,
selection, and validation of your Kinetix® Motion Control system.
Overview of Kinetix servo drives, motors, actuators, and motion accessories designed to
help make initial decisions for the motion control products best suited for your system
requirements.
Provides declarations of conformity, certificates, and other certification details.
You can view or download publications at
http:/www.rockwellautomation.com/literature/
. To order paper copies of
technical documentation, contact your local Allen-Bradley® distributor or
Rockwell Automation sales representative.
Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012 5
Preface
Notes:
6 Rockwell Automation Publication MOTION-UM004B-EN-P - October 2012
Welcome to Motion Analyzer Software
Top ic Pa ge
Before You Begin Sizing 8
Database Updater Program 8
Welcome to Motion Analyzer 13
Menu Bar and Quick Access Toolbar 14
File Tab 15
Home Tab 16
Graphical View 17
Group View 22
Multiple Profile View 26
Power Supply/Accessories View 29
Preferences Tab 62
Export – Import Tab 65
Export to RSLogix 5000 Wizard 65
Bill of Materials (BOM) Tab 76
Help Tab 76
Explorer View 78
Chapter 1
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Chapter 1 Welcome to Motion Analyzer Software
TIP
TIP
1.1. Before You Begin Sizing
After downloading and starting Motion Analyzer software, you’ll want to update
the Motion Analyzer database with the latest Allen-Bradley products available for
motion control applications. This section steps you through that process.
Download Motion Analyzer software from
http://www.ab.rockwellautomation.com/motion-control/motion-analyzer-software
.
1.1.1. Database Updater Program
The Motion Analyzer Database Updater program updates your Motion Analyzer
software with the latest database available for the version currently installed on
your personal computer.
1. To start the Motion Analyzer database updater program, go to
Start>All Programs>Rockwell Automation>Motion Analyzer 7.00>
Database Updater.
To update the software version, download Motion Analyzer software from
http://www.ab.rockwellautomation.com/motion-control/motion-analyzer-software
The Motion Analyzer Database Updater wizard opens.
.
Table 1 - Database Updater Analysis
Attribute Description
Installed Motion
Analyzer version
Installed database
version
Indicates the version of Motion Analyzer software currently installed.
Indicates the database version currently installed.
2. Click Next.
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The program checks for database updates.
If the program finds that you already have the current database installed,
the following dialog box opens.
3. Click Finish.
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Chapter 1 Welcome to Motion Analyzer Software
4. If the program finds that a database update is available, a dialog box opens
with the following information:
• Installed software and database versions
• Available database version
• Database download file size
• Summary of new features and products in the new database
5. Click Update.
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6. If the database updater program detects that your current version of
Motion Analyzer software is running, a dialog box opens with the
following instructions.
7. If the program finds that a new software version is available, a dialog box
opens with the following options:
• Click the link to download the new version of Motion Analyzer
software
• Click Next to skip the download and just update your current database
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Chapter 1 Welcome to Motion Analyzer Software
8. When the database updater program begins the update, this dialog box
opens.
9. When the database updater program completes the update, this dialog box
opens.
10. Click Finish.
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Welcome to Motion Analyzer Software Chapter 1
1.1.2. Welcome to Motion Analyzer
The Welcome to Motion Analyzer dialog box opens when the software
application is launched. Two modes of operation are possible.
Figure 1 - Welcome to Motion Analyzer Dialog Box
Table 2 - Motion Analyzer Modes of Operation
Mode Description
Size and Select
Just Quote Creates only a bill of materials so no sizing input is required.
Intuitive workflow to help size, select, and optimize the motion control system. This mode also
creates a bill of materials.
Click either of the New option modes to start a new application or click Browse
to open a previously configured application.
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Chapter 1 Welcome to Motion Analyzer Software
Menu Bar
Quick Access Toolbar
1.2. Menu Bar and Quick Access Toolbar
Your Motion Analyzer application file opens and the menu bar appears across the
top of the dialog box. Above the menu bar is the Quick Access toolbar.
Figure 2 - Size and Select Dialog Box
The Quick Access toolbar provides shortcuts to commonly used functions.
These functions include New, Open, Save, and Print.
Table 3 - Me nu Bar Ta b Descrip tion s
Options Description Page
File Tab
Home Tab
Preferences Tab Setting /View user preference option. 62
Export – Import Tab All data Export – Import functionality. 65
Bill of Materials (BOM) Tab
Help Tab Standard Help menu options. 76
Standard File menu options. 15
Most commonly used actions across different views in Motion Analyzer
software.
Useful shortcuts for navigating through the Bill of Materials view. 76
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1.2.1. File Tab
The File tab is similar to the file menu in many computer applications.
Figure 3 - File Tab Options
Table 4 - File Tab Descriptions (refer to Figure 3
Options Description
New Click New to go to the Welcome dialog box in Motion Analyzer software.
Open
Save Click to save the running Motion Analyzer application. Standard Save functionality.
Save As
Recent Files
Sample Applications
Print
Help This is similar to the Help Tab
Exit Click to close the running application.
Click Open to browse folders and open Motion Analyzer applications. Standard Open
functionality.
Click to launch a dialog box, browse to the path on your computer, and save the current
application to an.mba file.
Click for the list of recently opened applications. You can open one of these applications
directly from this shortcut.
Lets you open Motion Analyzer sample applications present in the Motion Analyzer
installation.
Print Click to print the application data.
Print Preview Click to see a preview of printable application data.
)
on page 76.
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Chapter 1 Welcome to Motion Analyzer Software
1.2.2. Home Tab
The Home tab contains five sections.
Figure 4 - Home Tab Options
Table 5 - Home Tab De scription s
Option Description
Used to access the different views available in Motion Analyzer software.
Click to open the Graphical view on page 17.
Click to open the Multiple Profile view on page 26.
Click to open the Power Supply/Accessories view on page 29.
Click to open the Axis view on page 82.
Click to open the BOM view on page 36.
Click to sort the axes in Drives group for Multi Axis Family application
by Axis Power. Sort is valid at the Rack, Group, or IPIM level.
Select multiple axes in Exp lorer view and clic k Group to create a Power
Sharing Drive Group. This feature is available only for families that
support AC and DC power sharing (Kinetix 5500 drives).
Select Power Sharing Drive Group in the Explorer view and click
Ungroup to ungroup the axes of the selected group.
Add a new IPIM module in the selected Drives Group in Explorer
hierarchy view.
Add a new axis in the Drives Group/Unallocated Group or IPIM based
on user’s current selection in Explorer hierarchy view.
Add a new Drives Group under the Project node in the Explorer
hierarchy view. This feature is available only for families that support
AC and DC sharing (Kinetix 5500 drives).
View s
(label 1 in Figure 4
Clipboard
(label 2 in Figure 4)
Edit
(label 3 in Figure 4
Add
(label 4 in Figure 4
Too l s
(label 5 in Figure 4
Graphical View
Group View Click to open the Group view on page 22.
Multiple Profile View
Power Supply/
)
Accessories View
Identify Your Load
Axis View
System Bill of
Materials (BOM) View
Used to access the Cut, Copy, and Paste functions. Click to perform these functions that are
common to many software programs.
Used to access these editing functions. Each one works on the entity selected in Explorer
hierarchy view.
Rename Click to rename the selected entity.
Delete Click to delete the selected entity from the ap plication.
Sort by Power
)
Allocate Allocate the axis from Un-allocate Axes Group to Drives Group.
Unallocate Un-allocate the axis from Drives Group to un-allocate Axes Group.
Group/Ungroup
Used to access these add functions. Each one works on the entity selected in Explorer hierarchy
view.
Add IPIM
)
Add Axis
Add Drive Group
Motion Analyzer/SolidWorks Integration is used to launch the SolidWorks Integration wizard.
)
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1.2.2.1. Graphical View
The Graphical view applies to multi-axis drive families and provides graphical
representation of the current (Bulletin 2093 and 2094) power rail and
Kinetix 6000M integrated drive-motor system configurations.
Figure 5 - Graphical View Example
Table 6 - Graphical View Options (refer to Figure 5
Options Description Page
Power R ail View
Power Inte rface
Module View
Displays the graphical representation of the current Bulletin 2093 or 2094
power rail configuration.
Displays the graphical representation of the Kinetix 6000M integrated drivemotor system on the Bulletin 2094 power rail.
)
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Chapter 1 Welcome to Motion Analyzer Software
1.2.2.1.1. Power Rail View
The Power Rail view displays the graphical representation of the current Bulletin
2093 or 2094 power rail configuration.
Figure 6 - Power Rail View Example
Table 7 - Power Rail View Options
Options Description
Product Rack
Summary
(label 1 in Figure 6
Image view
(label 2 in Figure 6
Module Information
(label 3 in Figure 6
Additional
Module Information
(inside red box)
Part Number Displays the selected power rail catalog number.
Total No. of Slots Displays the total number of slots available in the selected power rail.
)
Slots Occupied Displays the number of slots currently occupied in the selected power rail.
Graphical representation of the power rail with the drive modules and empty slots are
displayed along with the selected catalog numbers. Power rail configurations like Axis – Slot
mapping can be configured using options available in this view.
)
Right-click the modules and choose operations to perform from the menu (refer to Figure 7
Selected Slot
Module
Part Number Catalog number of the selected drive module.
)
Slot Number Power rail slot number occupied by the selected drive module.
Axis Name Name you assigned to the axis associated with the selected drive module.
View Axi s
Un- allocate Un-allocates the axis associated with the selected drive modules.
View Prod uct
Guide
).
Refers to the type of the module that is currently selected in the power
rail. For example, axis module (AM), integrated axis module (IAM), power
interface module (IPIM), or empty slot.
Click to launch the Axis view of the axis associ ated with the selected drive
module.
Click to open the Kinetix Motion Control Selection Guide. The page
displayed from the selection guide corresponds to the selected drive
module.
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Figure 7 - Operations to Perform Example
Additionally, you can click, drag, and drop a module to reposition that module
on the power rail (refer to Figure 8
).
Figure 8 - Drag and Drop Modules to Reposition on Power Rail
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Chapter 1 Welcome to Motion Analyzer Software
1.2.2.1.2. Power Interface Module View
The integrated drive-motor power interface module (IPIM) mounts to the
Bulletin 2094 power rail and connects (daisy-chains) with up to sixteen
integrated drive-motor (IDM) units.
Figure 9 - Power Rail View Example (Kinetix 6000M integrated drive-motor system)
Table 8 - Power Rail View Options (Kinetix 6000M integrated drive-motor system)
Options Description
Slot Number Power rail slot number occupied by the selected IPIM module.
IPIM Summary
(label 1 in Figure 9)
Image view
(label 2 in Figure 9
Selected Slot Module
(label 3 in Figure 9)
Additional
Module Information
(inside red boxes)
Number of
Associated Axis
Number of
Additional Axis
Allowed
Graphical representation of the Kinetix 6000M integrated drive-motor system are displayed
with the selected catalog numbers. Power rail configurations, like the order of IDM axes, can
be configured using options available in this view.
)
Right-click an IDM unit and choose operations to perform from the menu (refer to Figure 10
Selected Slot
Module
Part Number Catalog number of the selected unit or module.
IDM Position
Axis Name Name you assigned to the axis associated with the selected IDM unit.
View Axi s
Un- allocate Un-allocates the axis associated with the selected IDM unit.
View Product
Guide
Back to Rack Click to switch bac k to the power rail view.
Displays the number of axes currently associated with the selected IPIM
module.
Displays the additional number of axis that can be added in this IPIM
module.
Refers to the type of the module that is currently selected in the power
rail. For example, integrated drive-motor unit (IDM) or power interface
module (IPIM).
The position of the selected unit or module, assuming the IDM unit
closest to the IPIM module is identified as 1.
Click to launch the Axis view of the axis associated with the selected IDM
unit.
Click to open the Kinetix Motion Control Selection Guide. The page
displayed from the selection guide corresponds to the selected IDM unit.
).
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Figure 10 - Operations to Perform Example
Additionally, you can click, drag, and drop an IDM unit to reposition that unit in
the daisy-chain configuration (refer to Figure 11
).
Figure 11 - Drag and Drop to Reposition IDM Units
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Chapter 1 Welcome to Motion Analyzer Software
1.2.2.2. Group View
The Group view provides a summary of all the axes associated with the drive
group. Additionally, the Group view gives a visual representation of the axis
mapping in the power rail for multi-axes drive families. Group view varies
depending on the Application mode selected. Refer to Figure 12
for examples of each.
Figure 12 - Group View Example (Select and Size mode)
and Figure 13
Figure 13 - Group View Example (Just Quote mode)
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There are two areas of interest in the Group view, as illustrated in Figure 14.
Figure 14 - Group View Example
Table 9 - Power Rail View Options
Options Description Page
Power Rail Image
(label 1 in Figure 14)
Axis Summary Image
(label 2 in Figure 14)
Power rail image based on the current system configuration. This graphic only
applies to multi-axis drive families.
Displays a summary of the current axis configurations including drive module
and motor/actuator catalog numbers.
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25
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Chapter 1 Welcome to Motion Analyzer Software
1.2.2.2.1. Power Rail Image
The power rail image only applies to multi-axis drive families. In this example,
the current configuration of Kinetix 6000 servo drives is shown on an eight-axis
Bulletin 2094 power rail.
Figure 15 - Bulletin 2094 Power Rail Image
Table 10 - Power Rail Slot Example (refer to Figure 15
Option Description
IAM Module (slots 1 and 2)
AM Modules (slots 3…5) Axis modules (AM) are always right of the IAM module.
Empty Slots (slots 6…8)
Integrated axis module (IAM ) is always the first drive module on the power rail. In this
case, the IAM module is a double-wide module, so it occupies two slots.
Empty slots are always to the far right on the power rail and must be occupied by slotfiller modules.
)
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1.2.2.2.2. Axis Summary Image
The axis summary images apply to all drive families. In this example, the current
configuration of Kinetix 6000 servo drives includes the drive/motor
combination featured below.
Figure 16 - Axis Summary Bar (servo drive)
Table 11 - Axis Summary Example
Option Description
Axis Solution Status icon indicates the status of the selected
solution. Axis solution status is defined in Solution
208.
A warning triangle icon indicates a warning with this axis,
which requires your attention.
Selected motor catalog number.
on page
Title Band
(label 1 in Figure 16
Axis Bar
(label 2 in Figure 16
Short-cuts to Axis view
(label 3 in Figure 16
)
)
)
Axis Solution
Status Icon
Warning Icon
Axis Name Name of the Axis.
Displays information about the selected drive/motor axis or IPIM module.
(1)
Motor
Drive Selected drive module catalog number.
Gearbox Selected gearbox catalog number.
RBM Selected RBM module catalog number.
Icons are a graphical representation of the selected axis components. Click icons to switch
to the corresponding data page in the Axis view.
(1) Configure Motor BOM is availab le for the selected motor. Click to launch the Configure Motor dia log box.
In this example, the current configuration includes a Kinetix 6000M power
interface module (IPIM).
Figure 17 - Kinetix 6000M Power Interface Module
IPIM module icon along with the catalog number of the selected IPIM module is
displayed in this bar. Click + to access the IPIM child nodes (IDM units).
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Chapter 1 Welcome to Motion Analyzer Software
1.2.2.3. Multiple Profile View
The Multiple Profile view permits viewing profiles of multiple axes
simultaneously and defining axes synchronization and offsets among the axes.
Figure 18 - Multiple Profile View Example
Table 12 - Multiple Profile View Options
Options Description Page
Top Ba nd
(label 1 in Figure 18)
Graph View
(label 2 in Figure 18)
Lets you define the Time Span to which all graphs should be scaled.
Additionally, this view lets you select a subset of the available axes to view.
Profiles of all axes are displayed in this section with the shorter profiles being
repeated to fit the length of the longest profile.
27
28
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1.2.2.3.1. Top Band
This area lets you define the Time Span to which all graphs should be scaled.
Additionally, this view lets you select a subset of the available axes to view.
Figure 19 - Top Band of Multiple Profile View
Table 13 - Top Band Example
Option Description
Modify Time Span
(label 1 in Figure 19)
Show Axis
(label 2 in Figure 19
Sort By
(label 3 in Figure 19)
Time span is the length of x-axis on which all the profiles are plotted. Use this option to zoomin or zoom-out on the time scale. Enter the minimum and maximum value of the time scale of
interest and click Apply to re-plot all graphs to this scale.
Select All to display all axes.
Select Selected (Change) to choose the axis of interest (refer to Figure 20
)
box).
This option lets you sort the axes in the graph area according to the Slot Number or Axis Name.
for typical dialog
Figure 20 - Selected Axis Example
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Chapter 1 Welcome to Motion Analyzer Software
1.2.2.3.2. Graph View
The Graph view displays profiles of all axes with the shorter profiles being
repeated to fit the length of the longest profile.
Figure 21 - Graph View Example
Table 14 - Graph View Options (refer to Figure 21
Option Description
The phase relationship between the various axis profiles in a common DC bus system affects
the peak bus current requirement. For example, if all axes accelerate simultaneously, the bus
current demand is much greater than if each axis accelerates in turn.
From the Synchronized with pull-down menu, choose the random or synchronized operation
for each axis.
Synchronized with
Offset
Set at least one axis to Random as the reference axis. Set other axes to be synchronized with
the reference axis or Random.
The safe setting for system sizing is all Random. In this case the worst case current demand for
each axis is automatically lined up by adjusting the phase relationship of the axis profiles.
If the phase relationship is known and will not change, the Cycle Profiles should be set up in
the correct relationship and Synchronized with set. This relationship is maintained by the
system sizing algorithm and may result in a smaller drive being selected.
If all axis profiles are the same length and start at their correct respective positions, then the
offsets will be zero. Otherwise, the offset may be used to align the profiles correctly.
)
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1.2.2.4. Power Supply/Accessories View
In Axis view, you matched a drive with your motor. However, if there are power
components needed for your application, you’ll select them in Power Supply/
Accessories view.
1.2.2.4.1. Power Supply/Accessories - Multi-axis Drive Systems
If your drive family is Kinetix 2000, Kinetix 6000, or Kinetix 6200/6500, you’ll
also need to configure the IAM module and select the appropriate power rail.
Figure 22 - Power Supply/Accessories Dialog Box
Table 15 - Power Supply/Accessories Tabs (refer to Figure 22
Parameters Description Page
Power Data Tab
IAM and Shunt Tab
IAM Control Power Tab
Analysis Tab
Energy Tab
Configure Power Supply
BOM Tab
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View regeneration and motoring data for each axis. 30
Select drive modules and external shunt resistors for multi -axis systems. 31
Displays total auxiliary input power, input VA, input current, and power
distribution across the axes. These are the installation ratings for the IAM
module.
Analyze the drive module activity in terms of bus voltage and system
current. With this tab, you can also simulate changes to the system
parameters.
View Input Current values, System Power values, Shunt Power, and Energy
Savings Estimates.
Configure the bill of materials (BOM) for the power supply after fully sizing
the application.
)
32
33
34
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Chapter 1 Welcome to Motion Analyzer Software
1.2.2.4.1.1. Power Data Tab
Use the Power Data tab to view regeneration and motoring data for each axis.
Table 16 - Power Data Tab Properties (refer to Figure 22)
Parameters Description
Axis Histograms
Random/Sync
Relationship
Offset
The axis histograms show a multi-axis representation of axis currents including Peak
Motoring, Average Motoring, Peak Regenerating, and Average Regenerating.
The phase relationship between the various axis motion profiles in a common DC bus
system affects the peak bus-current requirement. For example, if all axes accelerate
simultaneously (for example, synchronous operation), the bus current demand is much
greater than if each accelerates in turn. The pull-down menu lets you choose Random or
Synchronized mode for axes operation. At least one axis should be set to Random as the
reference axis. Other axes may be set to Synchronized or Random relative to the reference
axis. The safe setting for system sizing is all Random. In this case, the worst case current
demand for each axis is automatically lined up by adjusting the phase relationship of the
axis motion profiles. If the phase relationship is known and will not change, the Cycle
Profiles should be set up in the correct relationship and appropriate synchronized set. This
relationship is maintained by the system sizing algorithm and may result in a smaller
drive being selected.
If all axis motion profiles are the same length and start at their correct respective
positions at the default time, then the offsets will be zero. Otherwise, a specified time
offset may be used to align the motion profiles correctly.
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