Editing Granity user guide/Connect

{{SetGranityTabPageTitle|Connect}}[[File:granityconnect.png|thumb]]
This tab serves following purposes:
* Connecting and disconnecting to a drive
* Loading and saving settings
* Clear drive fault state
* Enable or disable motor control
* Restart drive
* Upgrade firmware of the drive 
==Connecting==
===Preparations===
Before connecting drive to Granity, read through [[Argon setup guide]].

Minimum requirements for connection:
* [[Argon (servo drive)]] 
* 24VDC regulated power supply
* [[SimpleMotion V2 compatible communication interface device]] (such as [[SimpleMotion V2 USB adapter]])
* [[Setting device bus address|Drive address configured]] to give an unique address for drive

===Establishing connection===
# Connect PE of [[Argon_wiring#J3_24V_power_and_motor_brake_port|J4 connector]] to protective earth. After that wire 24 VDC power supply to Argon's [[Argon_wiring#J3_24V_power_and_motor_brake_port|J3 connector]], however do not power up yet.
# [[Setting device bus address|Set drive address]] to give an bus address to the device.
# Connect Argon J2.1 connector to [[SimpleMotion V2 USB adapter]] with a straight Ethernet cable and plug USB adapter to computer.
# Power up the 24 VDC power. Some leds should start blinking at the drive (specifily LD3 and/or LD4).
# Launch Granity software and:
##Go to Connect tab
##Ensure that SM V2 USB adapter is selected from drowdown list called ''Communication interface device''
##Click ''Connect to drive''
##Once list of connected drives pop up, select the one you connected and click ''Open''

Now if everything has gone well, you should see information like drive model and serial number on the Connect tab. Connection has been successfully tested and drive may be disconnected to proceed with next setup step.
==Disconnecting==
To disconnect, just click '''Disconnect from drive''' button. Before disconnecting ensure following:
*Have you changed some parameters without pressing '''Apply settings''' button afterwards?
*Have you modified settings and wish to keep the changes? If yes, see [[#Loading and saving settings]]

==Enable or disable motor control==
Enable/disable feature sets drive in active (enabled) or inactive (disabled) state. In enabled state drive performs motor control (such as positioning) and in disabled states drive lets motor free-wheel (torque off) or brakes motor.

===Disabling drive===
*To disable drive, click '''Disable drive''' button or Esc key from anywhere in the software
*Alternatively set logic 0 to Enable drive physical input
{{Machine|Disabling drive by software is not reliable enough for emergenecy stopping. Always have hard-wired method available for emergency situations ([[safe torque off]] switch or cut all power)}}

===Enabling drive===
*To enable drive, click '''Enable drive''' buttton
*In order to enable drive, logic 1 must be at drive physical Enable drive input
{{Machine|Before clicking enable, ensure that no danger is caused by unexpected motor behavior (such as servo instability or runaway).}}

===Verifying current enable/disable status===
*To verify current state of drive, view [[Granity user guide/Testing|device status]] registers.

==Loading and saving settings==
[[File:Drive settings transfer princible.png|400px|thumb|Different locations and transfer ways of parameters between drive, Granity and file system]]
Drive parameters have three possible storage medias:
;Drive internal parameter memory (RAM) 
*This holds currently active set of parameters in the drive
*These parameters are automatically fetched to the user interface every time Granity is connected to drive
*RAM parameters are overridden by the present values of the user interface when '''Apply settings''' button is pressed
;Drive internal non-volatile memory (Flash)
*Parameters in this memory will 'stick' in drive when device is powered off
*These parameters are automatically loaded to RAM during drive power-on
*To store parameters from RAM to Flash, click '''Save settings to drive non-volatile memory''' button
;User interface (UI)
*Parameters visible on Granity user interface
*Can be modified by user
*UI parameters can be transferred to drive (Apply) or to file
;File on computer filesystem
*Parameters may be also stored and loaded from a file (file name ending: .drc)
*To load settings, click '''Load settings from file''' and to activate these settings in drive, click '''Apply settings'''
*To save settings currently present in the user interface to file, click '''Save settings to file'''

==Clearing drive faults==
If drive enters in fault state, it typically can be cleared by clicking '''Clear drive faults''' button or performing equivalent reset errors command via phyiscal IO pins.

Some faults are clearable only by restarting drive. Restarting may be done by clicking '''Restart drive''' or by cycling 24VDC power. Restart is needed if Permanent stop status register bit is on. Note: Permanent stop bit is turned on also by changing certain parameters (not a fault).

{{Machine|If drive is in enabled state during clear faults command, drive will become enabled automatically. Ensure safety before resetting faults.}}

==Upgrading drive firmware==
See the main article [[Granity user guide/Uploading a firmware]].

==Troubleshooting==
* Check if LEDs are indicating an error (LEDs of: [[Argon user guide/LED indicators|Argon]], [[IONI & IONICUBE user guide/LED indicators|Ioni]])
* Ensure that each device in the bus has unique selected ([[Setting device bus address|Argon]])
* Ensure correct interface device has been selected from the dropdown list. If multiple choices are shown, try the other ones. If adapter is not shown, try restarting Granity.
* Ensure that bus termination has been properly set on only on the last drive in the bus 
**[[Setting device bus address|Argon bus termination]]
**For IONICUBE (4 axis) ensure that jumper in JP10 position 3 is inserted
**For IONICUBE 1X, ensure that S1 position 1 is switched on)
*See [[Device connection troubleshooting]]
{{next|[[Granity user guide/Goals]]}}