https://granitedevices.com/w/api.php?action=feedcontributions&user=Esa&feedformat=atomGranite Devices Knowledge Wiki - User contributions [en]2024-03-28T22:48:46ZUser contributionsMediaWiki 1.26.2https://granitedevices.com/w/index.php?title=Servo_motor_torque_mode_test&diff=7614Servo motor torque mode test2021-11-11T13:07:01Z<p>Esa: /* Steps */</p>
<hr />
<div>== Main idea ==<br />
The servo motor torque mode test is a method to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a continuous manner.<br />
<br />
== Assumptions ==<br />
* All wiring are triple checked and [[Tuning torque controller | torque tuning]] is done properly.<br />
** Refer to the product user guidebook for detailed wiring instructions.<br />
** Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.<br />
* The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement.<br />
* You have read and understood [[Servo tuning basics | servo tuning basics]].<br />
<br />
{{damage|Don't use [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover] cables in SimpleMotion V2 system}}<br />
<br />
== Steps ==<br />
{{machine|During this test, motor may spin at maximim speed. Ensure that motor is free to run, or if not, ensure that no damage occurs if it hits to mechanical limit.}}<br />
# Set the drive in Torque mode from [[Granity | Granity]]/Goals tab.<br />
# Go to Granity/Testing tab.<br />
# Make sure that the setpoint is zero and the drive is enabled and ready.<br />
# Set the {{param|TSP1}} Target setpoint 1 to 500.<br />
# Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.<br />
#*When setpoint reaches 16384 or greater, the maximum current is being delivered to motor. So further increase of setpoint will not have any effect.<br />
#*If drive stops into overvelocity fault, it typically means that system works properly. However, you may increase {{param|FVT}} enough to complete the test without overvelocity fault.<br />
# If the motor moves in a continuous manner, all parameters and wiring are correct.<br />
#* If the motor halts, click the "Set zero setpoint" button and follow the troubleshooting instructions below.<br />
<br />
== Troubleshooting ==<br />
In most cases, the motor halts after a short movement if the feedback resolution is incorrect, or if it's direction is reversed.<br />
<br />
* Check wiring, especially logic and motor voltages, Enable, and STO.<br />
* Check [FBI] Invert feedback direction checkbox in Granity/Machine tab, and repeat the steps above.<br />
** This inverts the encoder direction without the need for rewiring.<br />
* Check the motor pole count and encoder resolution from their datasheets.<br />
* Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.<br />
** The Position feedback value in Granity/Testing tab is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).<br />
<br />
== Further reading ==<br />
After the torque mode is configured and the motor can be controlled in torque mode properly, velocity and/or position modes can be tuned. Please refer to their respective instruction pages for further details.<br />
* [[Tuning velocity controller]]<br />
* [[Tuning position controller]]<br />
<br />
== Other motor types ==<br />
* For linear motors, please refer to [[Configuring linear servo motor|linear motor configuration instructions]].<br />
* For stepping motors, please refer to [[Using stepping motor with IONI|stepping motor configuration instructions]].<br />
<br />
[[Category:Application]]<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Signal_path_of_motor_drive&diff=7461Signal path of motor drive2021-04-06T10:37:23Z<p>Esa: </p>
<hr />
<div>In Granite Devices drives the torque, velocity and position limits and setpoints are defined as integer numbers. The vales are represented "hardware" scale which are described below.<br />
==Setpoint signal path==<br />
[[Setpoint]] signal path converts user setpoint to ''internal setpoint''. <br />
<br />
===Setpoint signal path===<br />
Main parts are:<br />
*Input multiplier. Purpose of this is to increase resolution of input setpoint to allow more fine grained velocity & acceleration control in trajectory planner. By default {{param|MUL}} value is 50.<br />
*Setpoint smoothing filter. If enabled, applies low pass filter to signal reducing jitter and roughness of signal but also introduces about some delay. By default the filter has 100% attenuation at 250Hz.<br />
*[[Trajectory planner]]. This limits rate of change of setpoint signal based on {{param|CVL}} and {{param|CAL}} parameters. Output rate maximum rate of change:<br />
**Velocity changes max {{param|CAL}} nubmer of units per [[control cycle]] (control cycle is 400µs in most GD drives)<br />
**Velocity maximum value is limited to {{param|CVL}}<br />
*Input divider. This divides setpoint signal by {{param|DIV}} to give desired output scale for ''internal setpoint''. Combination of multiplier and divider can be used change total scaling of setpoint signal.<br />
<br />
<br />
[[File:Driveblockdiagram setpoint v1.png|900px]]<br />
<br />
===Setpoint source scales===<br />
Different [[setpoint]] sources have different range and scale:<br />
{| class="wikitable"<br />
|-<br />
! Setpoint source !! Type !! Range !! Scale<br />
|-<br />
| Pulse & directon || Incremental || Infinite || <br />
* Position and torque mode: one pulse changes setpoint by one<br />
* Velocity mode: pulse frequency input, setpoint = number of pulses per [[control cycle]]<br />
|-<br />
| Quadrature || Incremental || Infinite || <br />
* Position and torque mode: one edge of either channel changes setpoint by one<br />
* Velocity mode: frequency input, setpoint = number of edges of either channel per [[control cycle]]<br />
|-<br />
| PWM || rowspan="2" |Absolute || Full input scale equals setpoint range of +/-16384. In loss of PWM signal, setpoint is 0. || rowspan="3" |<br />
*Direct 1:1 absolute value in position mode<br />
*Velocity & torque mode: +/-16384 represents full torque or speed scale<br />
|-<br />
| Analog || Full input scale equals setpoint range of +/-16384 <br />
|-<br />
| Serial ([[SimpleMotion V2]]) || Absolute & incremental || Infinite <br />
|}<br />
<br />
It should be noted that trajectory planner operates after multiplier meaning that {{param|CVL}} velocity limit value is not in equal scale with velocity setpoint value.<br />
<br />
===Internal setpoint===<br />
Internal setpoint is a predefined setpoint scale inside the drive. The scale of internal setpoint signals are:<br />
*Position mode: position sensor [[Quadrature|counter]] raw value<br />
*Velocity mode: internal goes through '''Velocity normalized''' that changes scales depending on setpoint source:<br />
**In PWM & Analog source: Internal setpoint of +/-16384 represents whole speed range covered by {{param|CVL}} parameter. I.e. 10V input to analog input runs motor at 100% speed and -5V at -50% etc.<br />
**In all other sources: number of feedback device [[Quadrature|counts]] per one [[control cycle]]. Obtained by calculating the difference of position feedback values at every control cycle.<br />
*Torque mode: '''Torque normalizer''' scales internal setpoint so that value of +/-16384 represents full torque scale (i.e. internal setpoint value 16384 outputs configured peak current {{param|MMC}} and 8192 outputs {{param|MMC}}/2)<br />
<br />
==Controller==<br />
The default controller type of GD drives is cascaded type where each controlled variable has it's own PI or P controller. In position mode such structure is called as PIV controller.<br />
<br />
The block diagram below represents simplified structure of GD drives.<br />
<br />
<br />
[[File:Driveblockdiagram controller.png|898x898px]]<br />
<br />
<nowiki>*</nowiki>) Update rates may be drive model specific. 2500 Hz and 20 kHz apply for most drives including IONI and ATOMI. However, torque control domain on ARGON is 17500 Hz.<br />
==Calculation formulas and examples==<br />
These examples focus on calculating values on a rotary motor and linear axis.<br />
===Constants used later in calculations===<br />
Assuming control cycle to be 400µs / 2500 Hz (default in GD drives):<br />
<br />
<math>f=2500</math><br />
<br />
Calculation of how many counts the [[feedback devices|feedback device]] produces per one physical unit:<br />
<br />
<math>X_{FeedbackDeviceCountsPerUnit}=4\frac{P_{FBR}}{P_{AXS}}</math><br />
<br />
AXS is a number that tells how many physical lenght units (such as millimeters a linear axis) translates per one rotary motor revolution.<br />
<br />
===Example 1 - Calculating setpoint in position mode===<br />
Here we convert physical units (such as millimeters) to setpoint value in position control mode:<br />
<br />
<math>setpoint=\frac{P_{MUL}}{P_{DIV}}*D_{DesiredPosition}*X_{FeedbackDeviceCountsPerUnit}</math><br />
<br />
===Example 2 - Calculating value for CVL parameter===<br />
Here we convert speed (such as mm/sec, or whatever lenght units AXS represents) to {{param|CVL}} value:<br />
<br />
<math>P_{CVL}=\frac{V_{DesiredSpeedLimit}*X_{FeedbackDeviceCountsPerUnit}*P_{DIV}}{f}</math><br />
<br />
===Example 3 - Calculating value for CAL parameter===<br />
Here we convert speed (such as mm/sec<sup>2</sup>, or whatever lenght units AXS represents) to {{param|CAL}} value:<br />
<br />
<math>P_{CAL}=\frac{A_{DesiredAccelerationLimit}*X_{FeedbackDeviceCountsPerUnit}*P_{DIV}}{f^2}</math><br />
<br />
In alternative method we don't need acceleration value, but just time <math>t</math> in seconds to define how long motor should take to accelerate from zero speed to maximum speed defined by CAL:<br />
<br />
<math>P_{CAL}=\frac{P_{CVL}}{tf}</math><br />
<br />
{{tip|Granity calculates real world units thus it can be used to calculate and experiment with the scales. As scales are linear, interpolation of values is viable choice.}}<br />
<br />
==See also==<br />
*[[Trajectory planner]]<br />
<br />
[[Category:Development]]<br />
[[Category:Glossary]]<br />
[[Category:Argon_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=IONICUBE_1X_connectors_and_pinouts&diff=7421IONICUBE 1X connectors and pinouts2021-01-04T09:53:03Z<p>Esa: /* X4 pinout */</p>
<hr />
<div>==IONICUBE 1X connectors==<br />
;X1.1 and X1.2<br />
:RJ45 connector with [[SimpleMotion V2]] interface. For pinout, see[[SimpleMotion V2 port]]. <br />
;X2<br />
:[[feedback devices|feedback device]] connector for motor<br />
;X3<br />
:9 pin wire terminal for [[HV DC bus]] supply, logic voltage supply, regenerative resistor and motor power output.<br />
;X4<br />
:Control and [[setpoint]] signal port. Contains also output for motor solenoid holding brake.<br />
;X5<br />
:Card-edge connectors for IONI drive<br />
{{damage|Before inserting or removing IONI drives from IONICUBE, remove all power from it and discharge it's capacitors. To discharge remaining energy (~voltage) from capacitors, short circuit GND to HV+ by a conductor and measure that there is no DC voltage left between GND and HV+ terminals. Even few volts left to [[HV DC bus]] is known to cause permanent damage to IONICUBE when drives are plugged.}}<br />
<br />
==IONICUBE 1X connectors==<br />
{{picturebox|Ionicube1x pinouts.png|caption=Connector layout and naming}}<br />
<br /><br />
{{picturebox|Ionicube1x wiring.png|caption=Wiring overview. R is regenerative resistor and E is encoder. In minimum working connection, wire 5V voltage to ENABLE and STO2 inputs into X4 pins (these two signals allow drive to be operated). Note: STO2 accepts voltage from 4.5 to 25 VDC but other digital inputs, such as ENABLE only between 2.7 to 5.5VDC.}}<br />
{{info|If using switching power supply (SMPS) as motor power supply, external rectifier diodes are needed to protect the power supplies. See See [[IONI power supply schemes]].}}<br />
<br />
===Legend===<br />
{| class="wikitable"<br />
|-<br />
! Color<br />
|-<br />
| class="powpin" |Supply pin<br />
|-<br />
| class="inpin" |Input pin<br />
|-<br />
| class="outpin" |Output pin<br />
|}<br />
===X3 pinout===<br />
This is a wire terminal connector for power input and output<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! Usage<br />
|-<br />
| 1 || class="powpin" | GND|| Ground<br />
|-<br />
| 2|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] (see IONI drive voltage range spec)<br />
|-<br />
| 3|| class="powpin" |VCC || 24V logic supply<br />
|-<br />
| 4|| class="outpin" |PH1 (PHASE1) || Motor phase 1 (see wiring table below)<br />
|-<br />
| 5|| class="outpin" |PH2 (PHASE2) || Motor phase 2 (see wiring table below)<br />
|-<br />
| 6|| class="outpin" |PH3 (PHASE3) || Motor phase 3 (see wiring table below)<br />
|-<br />
| 7|| class="outpin" |PH4 (PHASE4) || Motor phase 4 (see wiring table below)<br />
|-<br />
| 8|| class="outpin" |REG || [[Regenerative resistor]] output<br />
|-<br />
| 9 || class="powpin" | GND|| Ground<br />
|}<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! AC/BLDC motor !! Brush DC motor !! Stepping motor<br />
|-<br />
| 1 || class="powpin" | GND|| colspan="3" | Ground for cable shield and an optional motor holding brake coil<br />
|-<br />
| 4|| class="outpin" |PHASE1 ||U (some motors R)||Armature +||Coil A.1<br />
|-<br />
| 5|| class="outpin" |PHASE2 ||V (some motors S)||Armature -||Coil A.2<br />
|-<br />
| 6|| class="outpin" |PHASE3 ||W (some motors T)||Armature -||Coil B.1<br />
|-<br />
| 7|| class="outpin" |PHASE4 || Not connected||Armature +||Coil B.2<br />
<br />
|}<br />
<br />
====Motor & brake wiring schematics====<br />
Note: the images below are drawn for [[IONICUBE]] 4 axis version. IONICUBE 1X wiring is equivalent except there is no brake output in the X3. Brake output pin is located in X4.<br />
<gallery widths="300px" heights="190px"><br />
File:Ionicube mot ac.png|Wiring of three phase AC servo motor. Brake is optional.<br />
File:Ionicube mot dc.png|Wiring of Brush-DC servo motor. Brake is optional.<br />
File:Ionicube mot step.png|Wiring of two phase stepping motor. Brake can be fitted like in the other examples. Also 6 and 8 wire motors can be wired (the two drive coils connect always to the same PHASE outputs).<br />
</gallery><br />
{{tip|An easy way to verify correctness of two phase '''stepper''' connection: unplug the 6 pin connector and then measure resistance between phases 1-2 and 3-4. Multimeter should show the same resistance for both cases (typically 0.1 - 5 ohms). Also when measuring between phases 1-3, 1-4, 2-3 and 2-4, the multimeter should indicate open circuit.}}<br />
<br />
====Regenerative resistor====<br />
[[Regenerative resistor]] is optional and may be connected between REG and HV+ terminals. The on board transistor is capable of carrying max 10 Amp current on regenerative resistor, so ''minimum'' allowed resistance can be calculated from: R<sub>min</sub>=HV<sub>voltage</sub>/10. I.e. with 48VDC HV supply, the minimum resistance is 48V/10A = 4.8 Ohms. Suggested resistor power capability is 20-100 W.<br />
{{tip|When multiple IONICUBE 1X's are connected to a shared HV supply, then it is typically sufficient to have regenerative resistor only in one IONICUBE 1X as it will help to prevent voltage build-up in the HV supply line.}}<br />
<br />
===X2 pinout===<br />
X2 is the [[feedback devices|feedback device]] connector of motor<br />
{{EncoderPinoutD15}}<br />
{{info|Especially with long encoder cables, it might be necessary to add encoder line termination resistors, see [[Terminating differential encoder lines]].}}<br />
====Examples of feedback device and switch wiring====<br />
<gallery widths="180px" heights="180px"><br />
File:Encoderwiring full.png|Fully wired port with differential incremental encoder, hall sensors and switches<br />
File:Encoderwiring diff.png|Wiring of differential incremental encoder<br />
File:Encoderwiring min.png|Minimal wiring of incremental encoder (single ended, no index channel)<br />
File:Encoderwiring hall.png|Wiring of Hall sensors only (only torque mode possible)<br />
File:Encoderwiring swonly.png|Illustration of wiring limit and home switches. In addition to this, encoder and/or halls are needed.<br />
</gallery><br />
<br />
<br />
{{info|In case of single-ended encoder, connect encoder's A, B, Z only to drive's A+, B+ and C+ and leave drive's A-, B- and C- unconnected.}}<br />
{{info|With differential Hall sensor (which provides U+, U-, V+, V-, W+ and W-, connect only sensor's U+, V+ and W+ to drive's HALL_U/V/W. }}<br />
{{info|Never connect sensor negative outputs (A-/B-/C-/U-/V-/W-) to GND. Connect them to drive's A-/B-/C- or leave unconnected.}}<br />
{{tip|Feedback devices with [[differential signaling]] may use varying naming schemes of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and {{overline|X}}. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.}}<br />
<br />
===X4 pinout===<br />
{{warning|This section is unfinished. Don't use until this notice is removed.}}<br />
<br />
X4 is main control and [[setpoint]] signal port consisting Enable input signal, Fault output signal, [[pulse and direction]]/[[quadrature]]/[[PWM]] setpoint inputs and digital outputs for home switch status. X4 is directly wired to conform most common parallel port style pulse & direction CNC controllers.<br />
<br />
{| class="wikitable"<br />
! Pin number in header!!Signal name!!Typical usage<br />
| class="tableseparator" rowspan="14" |<br />
!Signal name!!Typical usage<br />
|-<br />
| 1|| class="powpin" |GND||Ground||2|| class="powpin" |5V_OUT||5V output for optional external circuity<br />
|-<br />
| 3|| class="inpin" |HSIN2||Depending on [[setpoint]] mode, can be either: <br />
*Direction signal of pulse train (in [[Pulse and direction]] setpoint mode)<br />
*Quadrature B channel (in [[quadrature]] setpoint mode)<br />
*PWM (in PWM and [[PWM]]+Dir setpoint modes) <br />
||4|| class="inpin" |HSIN1|| Depending on [[setpoint]] mode, can be either: <br />
*Step pulse train (in [[Pulse and direction]] setpoint mode)<br />
*Quadrature A channel (in [[quadrature]] setpoint mode)<br />
*PWM input direction (in [[PWM]]+Dir setpoint mode) <br />
|-<br />
| 5|| class="inpin" |ANAIN+||+/-10V [[analog setpoint]] input<sup>2</sup>||6|| class="inpin" |ANAIN-||+/-10V [[analog setpoint]] input<sup>2</sup><br />
|-<br />
| 7|| class="inpin" |GPI2||Enable positive feed (also in X2)<sup>1</sup>||8|| class="inpin" |GPI1||Home switch input (also in X2)<sup>1</sup><br />
|-<br />
| 9|| class="inpin" |GPI4||Clear faults<sup>1</sup>||10|| class="inpin" |GPI3||Enable negative feed (also in X2)<sup>1</sup><br />
|-<br />
| 11|| class="outpin" |REGEN_OUT||[[Regenerative resistor]] power switch state (redundant, IONICUBE 1X has internal power switch) ||12|| class="inpin" |GPI5||Start homing<sup>1</sup><br />
|-<br />
| 13|| class="outpin" |MECH_BRAKE_OUT||Mechanical holding brake output<sup>3</sup>||14|| class="outpin" |GPO5||Reserved for future use<sup>1</sup><br />
|-<br />
| 15|| class="outpin" |GPO4||Limit switch output||16|| class="outpin" |GPO3||Fault on any axis or E-stop (active low)<sup>1</sup><br />
|-<br />
| 17|| class="outpin" |GPO2||Tracking error warning<sup>1</sup>||18|| class="outpin" |GPO1||Servo ready<sup>1</sup><br />
|-<br />
| 19|| class="inpin" |STO2||Safe torque off input (this pin also present in X1<sup>4</sup>) ||20|| class="inpin" |ENABLE||Enable drive (with or without [[Charge pump enable input|chargepump]]) (this pin also present in X1<sup>4</sup>)<br />
|}<br />
1) For detailed pin function and alternative functions in various modes, refer to [[IONI connector pinout]]<br />
<br />
2) Setpoint voltage is measured from the difference of voltage potentials between ANAIN+ and ANAIN-. Both ANAIN inputs must always lie within +/-12V from GND (meaning that [[controller]]'s zero voltage reference, i.e. GND must be connected to the GND if drive to prevent voltage potentials from floating.<br />
<br />
3) This output can directly drive a 24V solenoid brake (max 500mA) if VCC is supplied by 24 volts. In such case, connect brake wires between MECH_BRAKE_OUT and VCC.<br />
<br />
4) The same pin is routed also to X1 connectors. Use ENABLE/STO2 pins of only either X4 ''or'' X1, not both. <br />
<br />
{{damage|Connect X4 directly only to 3.3V or 5V logic systems. For 24V logic, see chapter below.}}<br />
<br />
===X1 connector===<br />
X1 connectors are for [[SimpleMotion V2]] bus which is used for drive configuration with [[Granity]] software and control over a multidrop capable serial data link. For pinout, see [[SimpleMotion V2 port]].<br />
<br />
{{damage|Never connect an Ethernet to X1. While it uses similar connector and cabling, it is electrically incompatible with Ethernet. Devices may be permanently damaged by mixing Ethernet and SimpleMotion V2.}}<br />
{{damage|Do now wire SimpleMotion V2 ports with [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover RJ45 cables (see details)]. Always use straight/non-crossover patch cables. If unsure about what is the type of your RJ45 cable, don't use it.}}<br />
<br />
==DIP Switch S1 settings==<br />
On board switch S1 controls the SM bus termination. Set switch 1 to ON position if the IONICUBE 1X devie is the only device in a SM bus OR if it's the last device in device chain. All other cases, leave it OFF (in other words, if IONICUBE is chained to multiple SM bus devices and it's not the last device of the chain).<br />
==Using 24 Volt control signals==<br />
As many industrial environments use 24V signaling for logic, interfacing IONICUBE 1X has been designed to accept these voltages with help of external circuits: <br />
<br />
*The GPOx outputs are NPN open collector type the pulling pin to GND when output is logic 1. GPO can be loaded up to same voltage level with logic supply voltage.<br />
**If 24V logic accepts such NPN open collector output, wire directly<br />
**If push/pull type output is needed, wire a pull-up resistor (i.e. 2200 Ohm or higher) between GPOx and 24V voltage<br />
*Inputs are routed directly to IONI input pins that accept up to 5V directly. To extend the range, add a resistor divider network to reduce the voltage to accepted level. I.e. on each pin: <br />
**470 Ohm resistor from GPIx to GND, and<br />
**2200 Ohm GPIx to user 24V input signal<br />
**That two-resistor circuit will reduce 24V level logic 1 to an acceptable ~4.2V level, while logic 0 will be ~0V.<br />
<br />
==Dimensions and mounting==<br />
IONICUBE 1X can be mounted by screws to a base or with optional DIN rail clips to a standard DIN rail. <br />
<br />
To mount in DIN rail, obtain 2 pcs of Phoenix Contact part number 1201578. Such part is available from many distributors including {{digikey|277-2296-ND}}<br />
{{picturebox|Ionicube1x dims.png|caption=Dimensions and mounting hole locations}}.<br />
<br />
[[Category:IONI_user_guide]]<br />
[[Category:IONICUBE]]</div>Esahttps://granitedevices.com/w/index.php?title=IONICUBE_1X_connectors_and_pinouts&diff=7420IONICUBE 1X connectors and pinouts2021-01-04T09:51:21Z<p>Esa: /* X4 pinout */</p>
<hr />
<div>==IONICUBE 1X connectors==<br />
;X1.1 and X1.2<br />
:RJ45 connector with [[SimpleMotion V2]] interface. For pinout, see[[SimpleMotion V2 port]]. <br />
;X2<br />
:[[feedback devices|feedback device]] connector for motor<br />
;X3<br />
:9 pin wire terminal for [[HV DC bus]] supply, logic voltage supply, regenerative resistor and motor power output.<br />
;X4<br />
:Control and [[setpoint]] signal port. Contains also output for motor solenoid holding brake.<br />
;X5<br />
:Card-edge connectors for IONI drive<br />
{{damage|Before inserting or removing IONI drives from IONICUBE, remove all power from it and discharge it's capacitors. To discharge remaining energy (~voltage) from capacitors, short circuit GND to HV+ by a conductor and measure that there is no DC voltage left between GND and HV+ terminals. Even few volts left to [[HV DC bus]] is known to cause permanent damage to IONICUBE when drives are plugged.}}<br />
<br />
==IONICUBE 1X connectors==<br />
{{picturebox|Ionicube1x pinouts.png|caption=Connector layout and naming}}<br />
<br /><br />
{{picturebox|Ionicube1x wiring.png|caption=Wiring overview. R is regenerative resistor and E is encoder. In minimum working connection, wire 5V voltage to ENABLE and STO2 inputs into X4 pins (these two signals allow drive to be operated). Note: STO2 accepts voltage from 4.5 to 25 VDC but other digital inputs, such as ENABLE only between 2.7 to 5.5VDC.}}<br />
{{info|If using switching power supply (SMPS) as motor power supply, external rectifier diodes are needed to protect the power supplies. See See [[IONI power supply schemes]].}}<br />
<br />
===Legend===<br />
{| class="wikitable"<br />
|-<br />
! Color<br />
|-<br />
| class="powpin" |Supply pin<br />
|-<br />
| class="inpin" |Input pin<br />
|-<br />
| class="outpin" |Output pin<br />
|}<br />
===X3 pinout===<br />
This is a wire terminal connector for power input and output<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! Usage<br />
|-<br />
| 1 || class="powpin" | GND|| Ground<br />
|-<br />
| 2|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] (see IONI drive voltage range spec)<br />
|-<br />
| 3|| class="powpin" |VCC || 24V logic supply<br />
|-<br />
| 4|| class="outpin" |PH1 (PHASE1) || Motor phase 1 (see wiring table below)<br />
|-<br />
| 5|| class="outpin" |PH2 (PHASE2) || Motor phase 2 (see wiring table below)<br />
|-<br />
| 6|| class="outpin" |PH3 (PHASE3) || Motor phase 3 (see wiring table below)<br />
|-<br />
| 7|| class="outpin" |PH4 (PHASE4) || Motor phase 4 (see wiring table below)<br />
|-<br />
| 8|| class="outpin" |REG || [[Regenerative resistor]] output<br />
|-<br />
| 9 || class="powpin" | GND|| Ground<br />
|}<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! AC/BLDC motor !! Brush DC motor !! Stepping motor<br />
|-<br />
| 1 || class="powpin" | GND|| colspan="3" | Ground for cable shield and an optional motor holding brake coil<br />
|-<br />
| 4|| class="outpin" |PHASE1 ||U (some motors R)||Armature +||Coil A.1<br />
|-<br />
| 5|| class="outpin" |PHASE2 ||V (some motors S)||Armature -||Coil A.2<br />
|-<br />
| 6|| class="outpin" |PHASE3 ||W (some motors T)||Armature -||Coil B.1<br />
|-<br />
| 7|| class="outpin" |PHASE4 || Not connected||Armature +||Coil B.2<br />
<br />
|}<br />
<br />
====Motor & brake wiring schematics====<br />
Note: the images below are drawn for [[IONICUBE]] 4 axis version. IONICUBE 1X wiring is equivalent except there is no brake output in the X3. Brake output pin is located in X4.<br />
<gallery widths="300px" heights="190px"><br />
File:Ionicube mot ac.png|Wiring of three phase AC servo motor. Brake is optional.<br />
File:Ionicube mot dc.png|Wiring of Brush-DC servo motor. Brake is optional.<br />
File:Ionicube mot step.png|Wiring of two phase stepping motor. Brake can be fitted like in the other examples. Also 6 and 8 wire motors can be wired (the two drive coils connect always to the same PHASE outputs).<br />
</gallery><br />
{{tip|An easy way to verify correctness of two phase '''stepper''' connection: unplug the 6 pin connector and then measure resistance between phases 1-2 and 3-4. Multimeter should show the same resistance for both cases (typically 0.1 - 5 ohms). Also when measuring between phases 1-3, 1-4, 2-3 and 2-4, the multimeter should indicate open circuit.}}<br />
<br />
====Regenerative resistor====<br />
[[Regenerative resistor]] is optional and may be connected between REG and HV+ terminals. The on board transistor is capable of carrying max 10 Amp current on regenerative resistor, so ''minimum'' allowed resistance can be calculated from: R<sub>min</sub>=HV<sub>voltage</sub>/10. I.e. with 48VDC HV supply, the minimum resistance is 48V/10A = 4.8 Ohms. Suggested resistor power capability is 20-100 W.<br />
{{tip|When multiple IONICUBE 1X's are connected to a shared HV supply, then it is typically sufficient to have regenerative resistor only in one IONICUBE 1X as it will help to prevent voltage build-up in the HV supply line.}}<br />
<br />
===X2 pinout===<br />
X2 is the [[feedback devices|feedback device]] connector of motor<br />
{{EncoderPinoutD15}}<br />
{{info|Especially with long encoder cables, it might be necessary to add encoder line termination resistors, see [[Terminating differential encoder lines]].}}<br />
====Examples of feedback device and switch wiring====<br />
<gallery widths="180px" heights="180px"><br />
File:Encoderwiring full.png|Fully wired port with differential incremental encoder, hall sensors and switches<br />
File:Encoderwiring diff.png|Wiring of differential incremental encoder<br />
File:Encoderwiring min.png|Minimal wiring of incremental encoder (single ended, no index channel)<br />
File:Encoderwiring hall.png|Wiring of Hall sensors only (only torque mode possible)<br />
File:Encoderwiring swonly.png|Illustration of wiring limit and home switches. In addition to this, encoder and/or halls are needed.<br />
</gallery><br />
<br />
<br />
{{info|In case of single-ended encoder, connect encoder's A, B, Z only to drive's A+, B+ and C+ and leave drive's A-, B- and C- unconnected.}}<br />
{{info|With differential Hall sensor (which provides U+, U-, V+, V-, W+ and W-, connect only sensor's U+, V+ and W+ to drive's HALL_U/V/W. }}<br />
{{info|Never connect sensor negative outputs (A-/B-/C-/U-/V-/W-) to GND. Connect them to drive's A-/B-/C- or leave unconnected.}}<br />
{{tip|Feedback devices with [[differential signaling]] may use varying naming schemes of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and {{overline|X}}. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.}}<br />
<br />
===X4 pinout===<br />
{{warning|This section is unfinished. Don't use until this notice is removed.}}<br />
<br />
X4 is main control and [[setpoint]] signal port consisting Enable input signal, Fault output signal, [[pulse and direction]]/[[quadrature]]/[[PWM]] setpoint inputs and digital outputs for home switch status. X4 is directly wired to conform most common parallel port style pulse & direction CNC controllers.<br />
<br />
{| class="wikitable"<br />
! Pin number in header!!Signal name!!Typical usage<br />
| class="tableseparator" rowspan="14" |<br />
!Signal name!!Typical usage<br />
|-<br />
| 1|| class="powpin" |GND||Ground||2|| class="powpin" |5V_OUT||5V output for optional external circuity<br />
|-<br />
| 3|| class="inpin" |HSIN2||Depending on [[setpoint]] mode, can be either: <br />
*Direction signal of pulse train (in [[Pulse and direction]] setpoint mode)<br />
*Quadrature B channel (in [[quadrature]] setpoint mode)<br />
*PWM (in PWM and [[PWM]]+Dir setpoint modes) <br />
||4|| class="inpin" |HSIN1|| Depending on [[setpoint]] mode, can be either: <br />
*Step pulse train (in [[Pulse and direction]] setpoint mode)<br />
*Quadrature A channel (in [[quadrature]] setpoint mode)<br />
*PWM input direction (in [[PWM]]+Dir setpoint mode) <br />
|-<br />
| 5|| class="inpin" |ANAIN+||+/-10V [[analog setpoint]] input<sup>2</sup>||6|| class="inpin" |ANAIN-||+/-10V [[analog setpoint]] input<sup>2</sup><br />
|-<br />
| 7|| class="inpin" |GPI2||Enable positive feed (also in X2)<sup>1</sup>||8|| class="inpin" |GPI1||Home switch input (also in X2)<sup>1</sup><br />
|-<br />
| 9|| class="inpin" |GPI4||Clear faults<sup>1</sup>||10|| class="inpin" |GPI3||Enable negative feed (also in X2)<sup>1</sup><br />
|-<br />
| 11|| class="outpin" |REGEN_OUT||[[Regenerative resistor]] power switch state (redundant, IONICUBE 1X has internal power switch) ||12|| class="inpin" |GPI5||Start homing<sup>1</sup><br />
|-<br />
| 13|| class="outpin" |MECH_BRAKE_OUT||Mechanical holding brake output<sup>3</sup>||14|| class="outpin" |GPO5||Reserved for future use<sup>1</sup><br />
|-<br />
| 15|| class="outpin" |GPO4||Limit switch output||16|| class="outpin" |GPO3||Fault on any axis or E-stop (active low)<sup>1</sup><br />
|-<br />
| 17|| class="outpin" |GPO2||Tracking error warning<sup>1</sup>||18|| class="outpin" |GPO1||Servo ready<sup>1</sup><br />
|-<br />
| 19|| class="inpin" |STO2||Safe torque off input (this pin also present in X1<sup>4</sup>) ||20|| class="inpin" |ENABLE||Enable drive (with or without [[Charge pump enable input|chargepump]]) (this pin also present in X1<sup>4</sup>)<br />
|}<br />
1) For detailed pin function and alternative functions in various modes, refer to [[IONI connector pinout]]<br />
<br />
2) Setpoint voltage is measured from the difference of voltage potentials between ANAIN+ and ANAIN-. Both ANAIN inputs must always lie within +/-12V from GND (meaning that [[controller]]'s zero voltage reference, i.e. GND must be connected to the GND if drive to prevent voltage potentials from floating.<br />
<br />
3) This output can directly drive a 24V solenoid brake (max 500mA) if VCC is supplied by 24 volts. In such case, connect brake wires between MECH_BRAKE_OUT and VCC.<br />
<br />
4) The same pin is routed also to X1 connectors. Use only ENABLE/STO2 pins of either X4 ''or'' X1, not both. <br />
<br />
{{damage|Connect X4 directly only to 3.3V or 5V logic systems. For 24V logic, see chapter below.}}<br />
<br />
===X1 connector===<br />
X1 connectors are for [[SimpleMotion V2]] bus which is used for drive configuration with [[Granity]] software and control over a multidrop capable serial data link. For pinout, see [[SimpleMotion V2 port]].<br />
<br />
{{damage|Never connect an Ethernet to X1. While it uses similar connector and cabling, it is electrically incompatible with Ethernet. Devices may be permanently damaged by mixing Ethernet and SimpleMotion V2.}}<br />
{{damage|Do now wire SimpleMotion V2 ports with [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover RJ45 cables (see details)]. Always use straight/non-crossover patch cables. If unsure about what is the type of your RJ45 cable, don't use it.}}<br />
<br />
==DIP Switch S1 settings==<br />
On board switch S1 controls the SM bus termination. Set switch 1 to ON position if the IONICUBE 1X devie is the only device in a SM bus OR if it's the last device in device chain. All other cases, leave it OFF (in other words, if IONICUBE is chained to multiple SM bus devices and it's not the last device of the chain).<br />
==Using 24 Volt control signals==<br />
As many industrial environments use 24V signaling for logic, interfacing IONICUBE 1X has been designed to accept these voltages with help of external circuits: <br />
<br />
*The GPOx outputs are NPN open collector type the pulling pin to GND when output is logic 1. GPO can be loaded up to same voltage level with logic supply voltage.<br />
**If 24V logic accepts such NPN open collector output, wire directly<br />
**If push/pull type output is needed, wire a pull-up resistor (i.e. 2200 Ohm or higher) between GPOx and 24V voltage<br />
*Inputs are routed directly to IONI input pins that accept up to 5V directly. To extend the range, add a resistor divider network to reduce the voltage to accepted level. I.e. on each pin: <br />
**470 Ohm resistor from GPIx to GND, and<br />
**2200 Ohm GPIx to user 24V input signal<br />
**That two-resistor circuit will reduce 24V level logic 1 to an acceptable ~4.2V level, while logic 0 will be ~0V.<br />
<br />
==Dimensions and mounting==<br />
IONICUBE 1X can be mounted by screws to a base or with optional DIN rail clips to a standard DIN rail. <br />
<br />
To mount in DIN rail, obtain 2 pcs of Phoenix Contact part number 1201578. Such part is available from many distributors including {{digikey|277-2296-ND}}<br />
{{picturebox|Ionicube1x dims.png|caption=Dimensions and mounting hole locations}}.<br />
<br />
[[Category:IONI_user_guide]]<br />
[[Category:IONICUBE]]</div>Esahttps://granitedevices.com/w/index.php?title=Template:EncoderPinoutD15&diff=7389Template:EncoderPinoutD152020-10-09T09:04:29Z<p>Esa: </p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
! Pin # !! Pin name !! Electrical type (in most feedback device modes) ||Quadrature encoder|| SinCos encoder || BiSS-C encoder || SSI encoder || AMS SSI encoder<br />
|-<br />
| Shell|| class="powpin" |GND|| colspan="6" |Earth/case<br />
|-<br />
| 1|| class="inpin" |HALL_W|| colspan="3" |Hall sensor digital input, phase W || - || - || -<br />
|-<br />
| 2|| class="inpin" |HALL_V|| colspan="3" |Hall sensor digital input, phase V || - || - || -<br />
|-<br />
| 3|| class="inpin" |HALL_U|| colspan="3" |Hall sensor digital input, phase U || - || - || -<br />
|-<br />
| 4|| class="powpin" |GND|| colspan="6" |Encoder supply ground <br />
|-<br />
| 5|| class="inpin" |B-||Differential input B-|| Channel B- || SinCos input B- || - || - || -<br />
|-<br />
| 6|| class="inpin" |B+||Differential input B+ || Channel B+ || SinCos input B+ || - || - || -<br />
|-<br />
| 7|| class="inpin" |A-||Differential input A- || Channel A- || SinCos input A- || - || - || -<br />
|-<br />
| 8|| class="inpin" |A+||Differential input A+ || Channel A+ || SinCos input A+ || - || - || -<br />
|-<br />
| 9|| class="powpin" |5V_OUT|| colspan="6" | Encoder supply 5V output <br />
|-<br />
| 10|| class="powpin" |GND || colspan="6" | Encoder supply ground <br />
|-<br />
| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK<br />
|-<br />
| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional).Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn<br />
|-<br />
| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO<br />
|-<br />
| 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -<br />
|-<br />
| 15|| class="inpin" | C+|| Differential input C+ || Index channel Z+ || Index channel Z+ || Data/SLO+ || Data+ || -<br />
|-<br />
| Pin layout || colspan = 7 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.<br />
<br />
[[File:d15_pinout.png|frameless|500x500px]]<br />
|}</div>Esahttps://granitedevices.com/w/index.php?title=Template:EncoderPinoutD15&diff=7388Template:EncoderPinoutD152020-10-09T08:57:39Z<p>Esa: </p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
! Pin # !! Pin name !! Electrical type (in most feedback device modes) ||Quadrature encoder|| SinCos encoder || BiSS-C encoder || SSI encoder || AMS SSI encoder<br />
|-<br />
| Shell|| class="powpin" |GND|| colspan="6" |Earth/case<br />
|-<br />
| 1|| class="inpin" |HALL_W|| colspan="3" |Hall sensor digital input, phase W || - || - || -<br />
|-<br />
| 2|| class="inpin" |HALL_V|| colspan="3" |Hall sensor digital input, phase V || - || - || -<br />
|-<br />
| 3|| class="inpin" |HALL_U|| colspan="3" |Hall sensor digital input, phase U || - || - || -<br />
|-<br />
| 4|| class="powpin" |GND|| colspan="6" |Encoder supply ground <br />
|-<br />
| 5|| class="inpin" |B-||Differential input B-|| Channel B- || SinCos input B- || - || - || -<br />
|-<br />
| 6|| class="inpin" |B+||Differential input B+ || Channel B+ || SinCos input B+ || - || - || -<br />
|-<br />
| 7|| class="inpin" |A-||Differential input A- || Channel A- || SinCos input A- || - || - || -<br />
|-<br />
| 8|| class="inpin" |A+||Differential input A+ || Channel A+ || SinCos input A+ || - || - || -<br />
|-<br />
| 9|| class="powpin" |5V_OUT|| colspan="6" | Encoder supply 5V output <br />
|-<br />
| 10|| class="powpin" |GND || colspan="6" | Encoder supply ground <br />
|-<br />
| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK<br />
|-<br />
| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin.<br /> Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn<br />
|-<br />
| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO<br />
|-<br />
| 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -<br />
|-<br />
| 15|| class="inpin" | C+|| Differential input C+ || Index channel Z+ || Index channel Z+ || Data/SLO+ || Data+ || -<br />
|-<br />
| Pin layout || colspan = 7 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.<br />
<br />
[[File:d15_pinout.png|frameless|500x500px]]<br />
|}</div>Esahttps://granitedevices.com/w/index.php?title=Template:EncoderPinoutD15&diff=7387Template:EncoderPinoutD152020-10-09T08:53:12Z<p>Esa: </p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
! Pin # !! Pin name !! Electrical type (in most feedback device modes) ||Quadrature encoder|| SinCos encoder || BiSS-C encoder || SSI encoder || AMS SSI encoder<br />
|-<br />
| Shell|| class="powpin" |GND|| colspan="6" |Earth/case<br />
|-<br />
| 1|| class="inpin" |HALL_W|| colspan="3" |Hall sensor digital input, phase W || - || - || -<br />
|-<br />
| 2|| class="inpin" |HALL_V|| colspan="3" |Hall sensor digital input, phase V || - || - || -<br />
|-<br />
| 3|| class="inpin" |HALL_U|| colspan="3" |Hall sensor digital input, phase U || - || - || -<br />
|-<br />
| 4|| class="powpin" |GND|| colspan="6" |Encoder supply ground <br />
|-<br />
| 5|| class="inpin" |B-||Differential input B-|| Channel B- || SinCos input B- || - || - || -<br />
|-<br />
| 6|| class="inpin" |B+||Differential input B+ || Channel B+ || SinCos input B+ || - || - || -<br />
|-<br />
| 7|| class="inpin" |A-||Differential input A- || Channel A- || SinCos input A- || - || - || -<br />
|-<br />
| 8|| class="inpin" |A+||Differential input A+ || Channel A+ || SinCos input A+ || - || - || -<br />
|-<br />
| 9|| class="powpin" |5V_OUT|| colspan="6" | Encoder supply 5V output <br />
|-<br />
| 10|| class="powpin" |GND || colspan="6" | Encoder supply ground <br />
|-<br />
| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK<br />
|-<br />
| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn<br />
|-<br />
| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO<br />
|-<br />
| 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -<br />
|-<br />
| 15|| class="inpin" | C+|| Differential input C+ || Index channel Z+ || Index channel Z+ || Data/SLO+ || Data+ || -<br />
|-<br />
| Pin layout || colspan = 7 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.<br />
<br />
[[File:d15_pinout.png|frameless|500x500px]]<br />
|}</div>Esahttps://granitedevices.com/w/index.php?title=Simucube_wireless_wheel_system&diff=7314Simucube wireless wheel system2020-05-18T09:04:18Z<p>Esa: /* Files */</p>
<hr />
<div>{{Infobox electric device<br />
| name = Wireless button plate module<br />
| image =[[File:buttonplatev1.jpg|290px]]<br />
| type = PCB module<br />
| about = [[SWW]] transmitter (wheel side)<br />
}}<br />
<br />
{{Infobox electric device<br />
| name = Simucube wireless adapter<br />
| image =[[File:sc1wirelessmodule.jpg|290px]]<br />
| type = PCB module<br />
| about = Simucube 1 [[SWW]] receiver<br />
}}<br />
<br />
[[File:btpins.png|300px|thumb|link=Media:SimuCUBE Wireless Button plate Module v1.pdf|PDF documentation of the wireless button plate module for button plate manufacturers. [[Media:SimuCUBE Wireless Button plate Module v1.pdf|Download]].]]<br />
<br />
The [[About SimuCUBE|Simucube]] Wireless Wheel System (a.k.a. SWW) enables users to connect sim wheels wirelessly to the Simucube <br />
force feedback controller. The sim wheel buttons and incremental<br />
encoders are connected to a wireless button plate logic module, which communicates with Simucube <br />
force feedback controller’s wireless adapter wirelessly. The Simucube controller in turn<br />
communicates these button and encoder state changes via USB to the user’s PC.<br />
<br />
{{info|This product works only as combined with [[About SimuCUBE|Simucube]] controller or with [[Simucube 2]] wheel bases. Do not try to purchase this if you are not sure if you need this.}}<br />
<br />
===Basic operating principle===<br />
<br />
* Button plate manufacturers integrate the button plate wireless module in their designs simply by plugging the module to their PCB connector board and configuring the module with provided button plate configuration tool.<br />
* Customers connect the wireless button plate to their Simucube device by simply pressing both paddle shifters simultaneously.<br />
* The SimuCUBE 1 version needs an add-on receiver board (Simucube Wireless Adapter, sold separately) to interface with these wireless button plate transmitter modules.<br />
* The Simucube 2 Wheel Bases have this receiver module embedded in their design.<br />
<br />
[[File:buttonplate overview.png|800px]]<br />
<br />
==Button plate module features==<br />
* Connect up to 28 input devices wirelessly to Simucube force feedback controller.<br />
* Button inputs and encoders in 1:1, 1:2 and 1:4 modes are supported.<br />
* Incredibly low energy consumption. Single battery will last over 3 years on daily hard-core use.<br />
* Datasheet is available here: [[Media:SimuCUBE Wireless Button plate Module v1.pdf|Download]]<br />
<br />
* The factory default connection for input pins is stored on the device exactly as on the datasheet. <br />
** In factory default configuration, Pins marked as BTN's are buttons and ENC pins are encoders. The button plate module advertises itself as "Unnamed BP".<br />
** Inputs modes and encoder types can be changed by only the button plate manufacturers and resellers via a separate hardware programming device and software. This is available from GD via request.<br />
** Default mode for encoders is 1 pin state change per detent, i.e 1/4 gray code cycles per detent.<br />
** '''Configuring the wireless button plate module is not possible''' without a programming device and software that is only available on request from Granite Devices to button plate manufacturers. <br />
***'''Configuring is not supported for DIY purposes.'''<br />
<br />
==Simucube wireless adapter==<br />
* Wireless wheel support may be added to all existing Simucube 1 boards by inserting a wireless adapter<br />
* Insert a wireless adapter to a Simucube 1 board as shown in the following pictures.<br />
<br />
<br><br />
<br />
{{picturebox|AKZ_1017_E.jpg|caption=The Simucube SER-DISP header and a Simucube wireless adapter}}<br />
{{damage|Do not insert or remove Simucube Simucube adapter when the Simucube board is powered!}}<br />
{{picturebox|AKZ_1018_E.jpg|caption=Insert the Simucube adapter to the SER-DISP header like this}}<br />
{{info|A metallic or conductive case around Simucube board will have a negative effect on the signal quality, and in these cases a window or hole near the wireless adapter may be needed.}}<br />
<br />
==Button plate usage==<br />
* Turn on by inserting a battery and switching power on from possible power switch.<br />
* After starting, a button plate module goes into discovery mode, and it's status led starts to blink rapidly. The button plate can be found only in discovery mode.<br />
* Establish a connection to your button plate from Simucube configuration software.<br />
* When connecting a button plate to a Simucube for the first time, the connection must be opened manually from Simucube Configuration Tool (Simucube) or via the True Drive software (Simucube 2).<br />
* Simucube board and wireless button plate remember each other, and later will connect to each other automatically (if this option is enabled).<br />
* After connecting, the status led blinks 3 times in moderate frequency, and the button plate is ready to use.<br />
* Check the signal quality and battery voltage from Simucube Configuration Tool (Simucube 1) or True Drive software. A warning tone will be played when the button plate is connected, but the the battery should be replaced. The warning time is around a month's worth of regular usage.<br />
* The button plate should be ready to use. Input device events can be seen in Simucube configuration software and in games.<br />
* When connected, the connection may be closed by pressing both paddle shifters for over 5 seconds.<br />
* When not connected, the discovery mode can be started again by pressing the paddle shifters simultaneously for over 2 seconds.<br />
* The button plate will stay in the discovery mode for 30 seconds after releasing the paddle shifters, or until connecting to a Simucube.<br />
<br />
{{info|Do not leave a wireless wheel in state where one or both of the paddle shifters are pressed for a long time. Having paddles pressed may deplete the battery in a few days.}}<br />
<br />
==Simucube Configuration Tool / True Drive software wireless settings==<br />
<br />
When a Simucube board has a wireless adapter connected to it, a Wireless Wheels tab will be shown and enabled in the Simucube Configuration Tool. For Simucube 2, this tab is always enabled in the True Drive software.<br />
<br />
This tab let's user to manage connections to Simucube Wireless Wheels. In this tab it's possible to find, connect, disconnect and forget wireless wheels.<br />
Scanning can be started by pressing the "Scan for new devices" button. After clicking the button, information about nearby wireless wheels are shown in the list below.<br />
<br />
Wireless sim wheel names and MAC addresses can be used to identify different wheels. Names are set by wheel manufacturers, and therefore e.g. all wheels of same model may have same name.<br />
On the other hand, the MAC addresses are unique, so they can always be used for identifying.<br />
<br />
{{picturebox|tuner2.PNG|caption=A dialog (which is shown as a tab in Simucube Configuration Tool 0.12.x and later, and in True Drive software of Simucube 2), for managing Simucube wireless wheel connections}}<br />
<br />
{{picturebox|tuner4.PNG|caption=The Simucube configuration software (both the Configuration Tool, and the True Drive software) shows information about connected wireless button plate on it's overview tab}}<br />
<br />
==Availability==<br />
Ask wireless button plate availability from your button plate manufacturer.<br />
<br />
==Files==<br />
[[Media:BP_module_3d.zip|Wireless button plate module 3D model files (.step and .iges)]]<br />
<br />
[[Media:SimuCUBE Wireless Button plate Module v1.pdf|PDF documentation of the wireless button plate module for button plate manufacturers]]<br />
<br />
[[Media:Bt_board_breakout_1r1_gerber-2018-09-04.zip|Gerber files for reference break out board]]<br />
<br />
[[Category:SimuCUBE]]</div>Esahttps://granitedevices.com/w/index.php?title=File:Bt_board_breakout_1r1_gerber-2018-09-04.zip&diff=7313File:Bt board breakout 1r1 gerber-2018-09-04.zip2020-05-18T09:00:34Z<p>Esa: </p>
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<div></div>Esahttps://granitedevices.com/w/index.php?title=Argon_user_guide/Earthing&diff=7267Argon user guide/Earthing2020-03-16T08:27:01Z<p>Esa: </p>
<hr />
<div>Connecting a protective earth to Argon drive is the most crucial single connection to be made:<br />
*'''Earthing through the J4 PE terminal''' (always required)<br />
*'''Earthing the heat sink''' (always required)<br />
*'''Earthing the device case''' (always required)<br />
<br />
{{electricshock|Supplying power to the drive '''without proper earthing''' will allow leakage current to raise voltage potential of the device case to hazardous levels. Also ELV circuits (the other ports than J4) may become hazardous without earthing.}}<br />
==Earthing through the J4 PE terminal==<br />
This is a mandatory connection. Follow the [[Argon user guide/Wiring|Argon wiring instructions]].<br />
<br />
==Earthing the heatsink==<br />
<br />
[[File:ArgonEarthing1.png|450px|thumb|Earthing points of the heatsink]]<br />
<br />
[[File:ArgonEarthing2.png|450px|thumb|Proper earthing wire installation with toothed locking washers ensure an electrical contact through surface coatings.]]<br />
<br />
Attaching protective earth wire to the heatsink and case is mandatory in addition to the PE connection in J4 terminal.<br />
Parts needed:<br />
*1 pcs wire ring terminal with 4-5.5 mm hole with at least 20 Ampere capable earthing conductor<br />
*2 pcs M4 serrated/toothed lock washers<br />
*1 pcs M4 screw, 6-8 mm thread length<br />
<br />
==Earthing the enclosure==<br />
Part needed:<br />
* 1 pcs M4 wire ring terminal<br />
* 1 pcs M4 serrated washer<br />
* 1 pcs M4 regular washer<br />
* 1 pcs M4 screw<br />
<br />
After fixing the earthing wire, measure the connection to verify proper contact through the Argon paint.<br />
<br />
[[File:Argon enclosure grounding.jpg|450px|thumb|Earthing the Argon enclosure.]]<br />
<br />
===Verifying connection===<br />
After wiring, verify electrical connection by using a resistance meter between the case PE wire and J4 PE terminal while J4 PE wire is not connected.<br />
<br />
[[Category:Argon_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=File:Argon_enclosure_grounding.jpg&diff=7266File:Argon enclosure grounding.jpg2020-03-16T08:26:19Z<p>Esa: Esa uploaded a new version of File:Argon enclosure grounding.jpg</p>
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[[Category:Setup_guides|{{PAGENAME}}]]</div>Esahttps://granitedevices.com/w/index.php?title=File:Argon_enclosure_grounding.jpg&diff=7265File:Argon enclosure grounding.jpg2020-03-16T08:12:18Z<p>Esa: {{PAGENAME}}
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[[Category:Argon|{{PAGENAME}}]]<br />
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[[Category:Setup_guides|{{PAGENAME}}]]</div>Esahttps://granitedevices.com/w/index.php?title=Argon_user_guide/Earthing&diff=7258Argon user guide/Earthing2020-03-05T11:49:07Z<p>Esa: </p>
<hr />
<div>Connecting a protective earth to Argon drive is the most crucial single connection to be made:<br />
*'''Earthing through the J4 PE terminal''' (always required)<br />
*'''Earthing the heat sink''' (always required)<br />
*'''Earthing the device case''' (always required)<br />
<br />
{{electricshock|Supplying power to the drive '''without proper earthing''' will allow leakage current to raise voltage potential of the device case to hazardous levels. Also ELV circuits (the other ports than J4) may become hazardous without earthing.}}<br />
==Earthing through the J4 PE terminal==<br />
This is a mandatory connection. Follow the [[Argon user guide/Wiring|Argon wiring instructions]].<br />
==Earthing the heatsink==<br />
[[File:ArgonEarthing1.png|450px|thumb|Earthing points of the heatsink]][[File:ArgonEarthing2.png|450px|thumb|Proper earthing wire installation with toothed locking washers ensure an electrical contact through surface coatings.]]Attaching protective earth wire to the heatsink and case is mandatory in addition to the PE connection in J4 terminal.<br />
<br />
Parts needed:<br />
*1pcs wire ring terminal with 4-5.5 mm hole with at least 20 Ampere capable earthing conductor<br />
*2pcs M4 serrated/toothed lock washers<br />
*1pcs M4 screw, 6-8 mm thread length<br />
<br />
===Verifying connection===<br />
After wiring, verify electrical connection by using a resistance meter between the case PE wire and J4 PE terminal while J4 PE wire is not connected.<br />
<br />
[[Category:Argon_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=Argon_user_guide/Wiring&diff=7257Argon user guide/Wiring2020-03-05T10:32:19Z<p>Esa: </p>
<hr />
<div>{{ArgonManualNav}}<br />
==Mechanical installation and cooling==<br />
[[File:Argon installation.png|thumb|A proper Argon installation orientation and spacing with optional [[Argon user guide/Mating connectors and accessories|heat sinks]] and an optional cooling fan. For high power application, [[Replacing Argon fuse|replacing also the internal fuse]] may be necessary.]]Argon drives should be installed vertically (J5 connector up) with at least 50 mm free air space between the device surfaces and possible cabinet walls to allow heat transfer along the heat sink side of the device. <br />
<br />
Cooling may be further by mounting additional [[Argon user guide/Mating connectors and accessories|heat sinks]] to the bottom of the device and/or using a fan blowing air from bottom to up. If fan is used, it should have dust filter to prevent dust inside the drives. <br />
<br />
Such additional cooling measures are typically necessary only when '''average''' motor current is higher than 4 Amperes [[peak value of sine]]. Most of [[Control modes|position control]] servo systems run cool enough without additional cooling as the load is highly varying and the average output power is low. In any case, it is safe to experiment without cooling as drive's over temperature protection will shut down the drive in case of overheating.<br />
<br />
==Wiring overview==<br />
[[File:Wiringoverview notitle.png|600px]]<br />
[[File:Argon_test_setup_m.jpg|thumb|A working test setup wiring of Argon. Just connection to a computer and AC power is needed to operate the drive and motor with [[Granity]] or other [[SimpleMotion V2]] app. Note: emergency stopping, [[Argon_user_guide/Earthing|enhanced grounding]], fuse and all recommended [[EMI]] filters are not installed.]]<br />
[[File:Argon_test_stup_closeup_m.jpg|thumb|A close-up of the test test wiring. Note: emergency stopping, [[Argon_user_guide/Earthing|enhanced grounding]], fuse and all recommended [[EMI]] filters are not installed.]]<br />
;The minimum wiring for a servo system (after configuration state):<br />
# Safety [[Argon user guide/Earthing|earthing ]]to port J4, heatsink and case<br />
# 24 VDC wiring to port J3<br />
# [[Safe torque off]] and enable signals to port J2. See [[SimpleMotion V2 port|how]].<br />
# Motion [[controller]] wiring:<br />
## if pulse & direction, analog, PWM or quadrature setpoint signal used, wire signals to port J5<br />
## if setpoint delivered over SimpleMotion V2 bus, then a cable from [[SimpleMotion V2 compatible communication interface device]] to J2<br />
# Axis limit [[Argon user guide/J5 connector electrical interfacing|switches wired to port J5]]<br />
# [[Feedback devices|Feedback device]] wiring to port J1<br />
# Motor connection to port J4<br />
# AC input power to port J4. Use an external fuse with this input.<br />
;Optional wiring<br />
# AC [[Power line filter]] on the wire entering J4<br />
# Wiring of optional [[Argon user guide/Braking resistor|braking resistor]] to port J4<br />
# Motor solenoid brake wiring to port J3<br />
;Additionally following are required for drive configuration with [[Granity]]:<br />
# A cable from [[SimpleMotion V2 USB adapter]] to port J2<br />
<br />
==Ports and connectors==<br />
[[File:Argonfront.png|800px|Argon front side connections]]<br />
<br />
[[File:ArgonSideIO.png|550px|Argon side connections & DIP switches]]<br />
<br />
===J1 feedback device port===<br />
J1 connector type is 15 pin female D-Sub and should be mated with 15 pin male D-Sub counterpart. <br />
<br />
For pin-out and connection examples, see the main article [[Argon user guide/J1 connector wiring|J1 connector wiring]].<br />
<br />
===J2.1 and J2.2 Simplemotion & E-stop ports===<br />
J2.1 and J2.2 are RJ45 type connectors and mates with standard Cat 5 & 6 Ethernet cables. Both of these ports are connected pin-to-pin parallel to allow chaining of Argon devices. <br />
<br />
See the main article [[SimpleMotion V2 port]].<br />
<br />
===J3 24V power and motor brake port===<br />
J3 is a 3 pole terminal block type connector used for supplying 24VDC to drive and optionally controlling motor solenoid brake. <br />
<br />
See the main article [[Argon user guide/J3 connector wiring|J3 connector wiring]].<br />
<br />
===J4 power & motor port===<br />
J4 is a 10 pole terminal block connector for several functions: earthing, AC power input, motor output, regenerative resistor output and HV DC link sharing. <br />
<br />
See the main article [[Argon user guide/J4 connector wiring|J4 connector wiring]].<br />
<br />
===J5 Inputs/Outputs===<br />
J5 Is a 26 pin [http://en.wikipedia.org/wiki/Insulation-displacement_connector IDC connector] located on the side of Argon. The connector serves as general purpose I/O with [[setpoint signal]] inputs featuring: limit & home switch inputs, status indicator outputs, [[Analog setpoint|analog]], [[Pulse and direction|pulse and direction]], [[quadrature]] or [[PWM]] types of [[Setpoint signal|setpoint]] inputs and secondary [[feedback devices|feedback device]] input.<br />
<br />
See the main article [[Argon I/O connector electrical interfacing]] for pin-out and wiring guide.<br />
<br />
===J6 Expansion slot===<br />
This slot is reserved for [[Argon add-on card]] that may be installed inside the drive.<br />
<br />
===DIP Switches===<br />
DIP switches serves as address selector when connecting the drive to [[SimpleMotion V2]] bus or [[Granity]].<br />
<br />
See the main article [[Setting device bus address]].<br />
<br />
==Mating parts==<br />
See list of [[Argon mating connectors and accessories]]<br />
==Wiring recommendations==<br />
Read general wiring recommendations articles at:<br />
*[http://www.electrical-installation.org/enwiki/Wiring_recommendations Wire routing recomendations]<br />
*[http://www.electrical-installation.org/enwiki/EMC_implementation_-_Implementation_of_shielded_cables Cable shield connection]<br />
<br />
==Basic wiring scheme==<br />
Before wiring, be sure to read through the main articles regarding J1-J5 ports.<br />
===Connecting multiple drives===<br />
Note this drawing does not include wiring to motor (J4), motor brake (J3), feedback device (J1), controller (J5) and AC power input circuity.<br />
{{caution|Using HV DC bus sharing via VP and VN terminals or supplying external DC voltage to them, renders the [[safe torque off]] '''STO1''' input unusable because STO1 is based on by cutting the AC supply. In order to preserve STO1 functionality with DC bus sharing, the STO1 signal must be fed simultaneously to all DC bus sharing drives. If an external DC supply is used (no AC input to L & N), then STO1 will not operate.<br/><br/>STO1 will also be inoperable if DC voltage is supplied to L & N inputs instead of AC. With DC supply, STO1 ibput must be always powered as the internal relay may damage if STO1 used with DC supply. }}<br />
[[File:Argon_wiring_multiple.png|800px]]<br />
<br />
===Wiring of single drive===<br />
[[File:Argonwiringoverview.png|800px]]<br />
<br />
[[Category:Argon_wiring]]</div>Esahttps://granitedevices.com/w/index.php?title=Argon_user_guide/Earthing&diff=7256Argon user guide/Earthing2020-03-05T10:23:10Z<p>Esa: </p>
<hr />
<div>Connecting a protective earth to Argon drive is the most crucial single connection to be made. Argon has two earthing methods:<br />
*'''Earthing through the J4 PE terminal''' (always required)<br />
*'''Earthing the heat sink''' (always required)<br />
*'''Earthing the device case''' (always required)<br />
<br />
{{electricshock|Supplying power to the drive '''without proper earthing''' will allow leakage current to raise voltage potential of the device case to hazardous levels. Also ELV circuits (the other ports than J4) may become hazardous without earthing.}}<br />
==Earthing through the J4 PE terminal==<br />
This is a mandatory connection. Follow the [[Argon user guide/Wiring|Argon wiring instructions]].<br />
==Earthing the device case==<br />
[[File:ArgonEarthing1.png|450px|thumb|Earthing points of the case]][[File:ArgonEarthing2.png|450px|thumb|Proper earthing wire installation with toothed locking washers ensure an electrical contact through surface coatings.]]Attaching protective earth wire to the case can provide much lower impedance PE connection compared to the J4 terminal making it highly recommended addition to grounding through J4. Using both of the methods provides redundancy in the case of one method fails.<br />
<br />
Parts needed:<br />
*1pcs wire ring terminal with 4-5.5 mm hole with at least 20 Ampere capable earthing conductor<br />
*2pcs M4 serrated/toothed lock washers<br />
*1pcs M4 screw, 6-8 mm thread length<br />
<br />
===Verifying connection===<br />
After wiring, verify electrical connection by using a resistance meter between the case PE wire and J4 PE terminal while J4 PE wire is not connected.<br />
<br />
[[Category:Argon_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=IONI_%26_IONICUBE_user_guide/Mating_connectors_and_accessories_for_IONICUBE_1X&diff=7144IONI & IONICUBE user guide/Mating connectors and accessories for IONICUBE 1X2019-09-24T10:18:50Z<p>Esa: /* Accessories */</p>
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<div>{{SetIUGTitle|Mating connectors and accessories for IONI & IONICUBE 1X}}<br />
{{IoniManualNav}}This page lists examples of available mating connectors, accessories and spare parts for [[IONI]] drive together with [[IONICUBE 1X]] motherboard. Most parts or equivalents are available from large number of distributors. You may use http://www.findchips.com/ to search the same or similar parts from alternative distributors.<br />
==Recommended shopping list==<br />
*Connectors and backshells for X6/X8 unless using a motor with pre-made encoder cables (like [[Granite Devices servo motors]])<br />
*X1 cable (RJ45 cable)<br />
*X4/X5 connectors and flat cable<br />
**A flat cable to D-Sub 25 connector if direct connection to parallel port based PC CNC software is desired<br />
*EMI filters<br />
*24 VDC logic power supply<br />
*HV DC bus power supply<br />
<br />
See the list of example parts below.<br />
<br />
==Connectors==<br />
===X2 connector===<br />
{{:List of D-Sub 15 pin connector parts}}<br />
===X1 connector===<br />
====Cable assemblies====<br />
Cable used for X1 should be shielded (S/FTP or FTP, ''not UTP'') type.<br />
{| class="wikitable"<br />
|-<br />
! Description !! Manufacturer || Part number !! Distributors and order codes<br />
|-<br />
| Premium patch cable 0.5m || VIDEK ||3962-0.5 || {{farnell|1525999}}<br />
|-<br />
| Premium patch cable 1m || VIDEK ||3962-1 || <br />
|-<br />
| Premium patch cable 2m || VIDEK ||3962-2 || {{farnell|1525753}}<br />
|-<br />
| Premium patch cable 5m || VIDEK ||3962-5 || {{farnell|1525755}}<br />
|-<br />
| Premium patch cable 10m || VIDEK ||3962-10 || <br />
|-<br />
| Shielded patch cable 0.5m || VIDEK ||2992-0.5 || {{farnell|1517504}}<br />
|-<br />
| Shielded patch cable 1m || VIDEK ||2992-1 || <br />
|-<br />
| Shielded Patch cable 2m || VIDEK ||2992-2 || {{farnell|1517506}}<br />
|-<br />
| Shielded patch cable 5m || VIDEK ||2992-5 || {{farnell|1517509}}<br />
|-<br />
| Shielded patch cable 10m || VIDEK ||2992-10 || <br />
|- <br />
| Shielded patch cable 0.5m|| Assman || A-MCSP-80005/B-R|| {{digikey|A-MCSP-80005/B-R}}<br />
|- <br />
| Shielded patch cable 1m|| Assman || A-MCSP-80005/Y-R|| {{digikey|A-MCSP-80010/Y-R}}<br />
|- <br />
| Shielded patch cable 2m|| Assman || A-MCSP-80020/Y-R|| {{digikey|A-MCSP-80020/Y-R}}<br />
|- <br />
| Shielded patch cable 3m|| Assman || A-MCSP-80050/Y-R|| {{digikey|A-MCSP-80030/Y-R}}<br />
|- <br />
| Shielded patch cable 5m|| Assman || A-MCSP-80050/Y-R|| {{digikey|A-MCSP-80050/Y-R}}<br />
|- <br />
| Shielded patch cable 10m|| Assman || A-MCSP-80050/Y-R|| {{digikey|A-MCSP-80100/Y-R}}<br />
|}<br />
<br />
===X4 connector===<br />
[[File:Idcterminal.png|thumb|Example of DIN rail attachable IDC terminal block/breakout board.]]<br />
Mating connector type is 0.1" pitch 20 pin IDC ribbon cable socket, see [[Media:Idc_connector_data.pdf|example (pdf)]].<br />
{| class="wikitable"<br />
|-<br />
! Description !! Manufacturer || Part number !! Distributors and order codes<br />
|-<br />
| SOCKET, IDC, 2.54MM, 20WAY || AMPHENOL || T812120A101CEU || <br />
*{{Farnell |2215252}}<br />
|-<br />
| FLAT CABLE 20 WAY|| 3M ||3302/20 300SF ||{{digikey|MC20M-5-ND}}<br />
|}<br />
====Accessories====<br />
{| class="wikitable"<br />
|-<br />
! Description !! Manufacturer || Part number !! Distributors and order codes<br />
|-<br />
| IDC terminal block, 20WAY || Camden boss || CIM/202426W-IDCS || *{{Farnell|2211821}}<br />
|-<br />
| DIN Rail mounting clip (need 2 pcs per IONICUBE 1X) || Phoenix Contact || 1201578|| {{digikey|277-2296-ND}}<br />
|-<br />
| 4x 5 - 8 mm M3 screws for DIN mounting clip || Generic || ||<br />
|}<br />
<br />
==[[Electromagnetic interference]] filtering==<br />
{| class="wikitable"<br />
|-<br />
! Description !! Manufacturer || Part number !! Distributors and order codes<br />
|-<br />
| [[EMI suppression cores|EMI suppression core]] for low frequency band || Laird ||LFB159079-000||{{digikey|240-2281-ND}}<br />
|-<br />
| [[EMI suppression cores|EMI suppression core]] for medium frequency band || Laird ||28B0616-000||{{digikey|240-2306-ND}}<br />
|}<br />
<br />
==Power supplies==<br />
Before making decision on power supplies, see:<br />
*[[IONI power supply schemes]]<br />
*[[Estimating power need of motor drive system]]<br />
===24V low power logic supply===<br />
{{:List of low power 24V power supplies}}<br />
<br />
===HV DC high power motor supply===<br />
{{:List of 24V power supplies}}<br />
{{:List of 48V power supplies}}{{next|[[IONI & IONICUBE user guide/LED indicators]]}}<br />
<br />
[[Category:IONI]]<br />
[[Category:IONI_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=IONI_Servo_%26_Stepper_Drive&diff=7127IONI Servo & Stepper Drive2019-08-29T08:05:47Z<p>Esa: /* Supported motors */</p>
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<div>{{Infobox drive<br />
| name = IONI<br />
| image=[[File:Finalioni2crop.JPG|290px]]<br />
| modelno = IONI-11K000, IONI-11K200<br />
| drivetype = Servo & stepping motor drive<br />
| motors = AC, DC, BLDC, Linear, Stepper<br />
| controlmodes = Position, Velocity, Torque<br />
| production = Active production, started 2015<br />
| voltage = 5 - 54 VDC (except 5 - 58 VDC in IONI Pro HC) <br />
| currentrange = 0.1 - 15A IONI, 0.1 - 18A IONI Pro, 0.1 - 25A IONI Pro HC<br />
| feedbacksignals=[[Quadrature]] encoder, SinCos encoder<br />
| referencesignals=[[Pulse and direction]], [[PWM]], [[Analog reference|Analog]], [[SimpleMotion V2]]<br />
| configtool=[[Granity]]<br />
| agencies=CE (EMC & LVD directives)<br />
| 3dmodel={{dlfile|IONI 3d models.zip|IGES & STEP}}<br />
| url=[https://granitedevices.com/miniature-servo-drive-ioni/ Granite Devices IONI]<br />
}}{{IoniManualNav|width=22em|notoc=1}}[[File:Ioni flyer.PNG|300px|thumb|link=Media:IONI_flyer.pdf|PDF version of IONI flyer. [[Media:IONI_flyer.pdf|Download]].]]<br />
'''IONI''' is a digital motor drive designed for driving AC/BLDC and DC servo motors and steppers. IONI allows controlling motors in [[Control modes|all three operating modes]]: position control, velocity control and torque control (torque mode only with servo motors). Applications of such control methods include<br />
<br />
*Position control, such as CNC, robotics and 3D printing<br />
*Velocity control, such as spindles or feeders<br />
*Force / torque control, such as racing simulator wheel<br />
<br />
<br />
[[File:Ioni drive blocks.png|500px]]<br />
<br />
<br />
Commands to IONI drive can be delivered in many formats and from many sources, such as PC, PLC, microcontroller (i.e. Arduino, MBED and OEM boards) or embedded computers like Raspberry Pi. IONI understands several forms of [[setpoint]] commands:<br />
<br />
*Step & direction digital signals (typical stepper drive interface, good for position control)<br />
*Analog +/-10V signal (good for speed or torque control)<br />
*PWM signal (good for speed or torque control)<br />
*RS485 serial bus (talks [[SimpleMotion V2]] bus protocol, open source library available)<br />
<br />
<br />
==Supported motors==<br />
As motor is not included, make sure that you have, or obtain a motor that is compatible with IONI. Learn more about [[motor types]].<br />
<br />
===Servo motor requirements===<br />
*Permanent magnet brush-DC, AC, brushless or linear motor<br />
*Motor voltage rating 12-60 VDC (IONI supply voltage is 5 - 52 VDC)<br />
*Motor current rating 0.1 - 25A (choose drive model accordingly, IONI Pro HC, maximum output is 25A, IONI Pro 18A, and IONI 15A)<br />
*Servo motor must be equipped with an [[Feedback devices|supported feedback device]] (position sensor / encoder).<br />
See [[Motor compatibility guide]] for more details.<br />
===Stepping motor requirements===<br />
<br />
*Two-phase stepping motor with 0.5 - 15A current rating, no feedback device needed. Can be used in position and velocity control mode. Torque mode not possible. Stepper voltage rating is irrelevant, but generally lower voltage & higher current stepper is better.<br />
<br />
===Unsuitable/non-optimum motors===<br />
*Any non-permanent magnet motors: induction AC motor or DC motor with field coil - will not work<br />
*Cheapest grade DC motor, such as one extracted from power drill - might not give satisfying performance<br />
*Motor with very high voltage, such as 200 VAC AC servo motor - it will work if it has incremental encoder feedback, but maximum rotation speed is limited due to drive voltage. Consider [[Argon]] servo drive for motors above 100 volts rating.<br />
<br />
==Features==<br />
===State of the Art===<br />
* [[High dynamic range torque control]]<br />
* Wide range motor support, from DC, BLDC, AC and Linear, from 5 W to 500 W<br />
* High functional density and cost efficiency<br />
* [[3-level PWM vs 2-level PWM|3-level PWM output]] with reduced motor heating<br />
* Automatically [[Measure motor resistance and inductance in Granity|measures motor inductance and resistance]] for easy setup<br />
* [[Configuring cogging torque compensation|Anticogging / torque ripple compensation]]<br />
<br />
===Control===<br />
* Input [[setpoint signal|setpoint signals]] including [[pulse and direction]], [[quadrature]], [[analog setpoint|analog]] and [[PWM]]<br />
* Multidrop & multiaxis capable real-time [[SimpleMotion V2]] field bus for setup & control<br />
* Internal axis homing function with sensorless [[Hard-stop homing|hard-stop operating mode]]<br />
<br />
===Protections & Ruggedness===<br />
* [[safe torque off|Safe torque off]]<br />
* Prevent machine damage via I²t (motor temperature modeling), blocked motion and tracking error detection<br />
* Industry leading ruggedness: over current, short circuit, over voltage, under voltage and over temperature protections, data/communication error detection<br />
* [[Product warranty terms|Warranty]] 24 months<br />
* [[Charge pump enable input]] for safety<br />
<br />
==Applications==<br />
*Industrial servo & stepping motor control<br />
*Robotics<br />
*[https://en.wikipedia.org/wiki/Industry_4.0 Industry 4.0] systems<br />
*Testing equipment<br />
*CNC<br />
*Haptics<br />
*Racing & flight simulators<br />
*Pick'n'place machines<br />
*Defense systems<br />
<br />
==Functionality and specifications==<br />
See main article [[IONI specifications]].<br />
<br />
==Documentation & user guides==<br />
See the main article [[IONI & IONICUBE user guide]].<br />
<br />
==Availability==<br />
Shipping worldwide at [[Granite Devices web shop]].<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:IONI]]</div>Esahttps://granitedevices.com/w/index.php?title=VSD-E_and_VSD-XE&diff=7087VSD-E and VSD-XE2019-06-05T10:17:24Z<p>Esa: /* How to purchase */</p>
<hr />
<div>{{Infobox drive<br />
| drivetype = Servo motor drive<br />
| image = [[Image:VSD-EXE-160-w430.jpg|280px]]<br />
| motors = AC, DC, BLDC, <small>(Stepper partially)</small><br />
| controlmodes = Position, Velocity, Torque<br />
| production = NRND (Not recommended for new designs), see [[Argon (servo drive)|Argon]]<br />
| voltage = 12 - 160 VDC<br />
| currentrange = 0.1 - 40A <br />
| production = Discontinued<br />
| feedbacksignals=[[Quadrature]] encoder<br />
| referencesignals=[[Pulse and direction]], [[PWM]], [[Quadrature]], [[Analog reference|Analog]], [[SPI]]<br />
| protections=Short circuit, over current, over temperature, [[I²t protection|I²t]], over voltage, under voltage, DC motor runaway, serial communication error<br />
| configtool=[[GDtool]] 2.5 and [[DCtool]]<br />
| url = [http://www.granitedevices.fi/index.php?q=servo-drive-vsd-e Product site]<br />
}}<br />
<br />
VSD-E/XE drive is a versatile servo drive from Granite Devices. In favor of [[ARGON]] and [[IONI]] servo drives, VSD-E series became discontinued. Regardless of being discontinued in production, it is still being supported and repair & spare service is available. <br />
<br />
==Applications==<br />
===Motion control===<br />
* Robotics<br />
* CNC<br />
* Pick'n'place<br />
* Precise speed,torque or position control<br />
* Actuators<br />
* 3D printers<br />
===Other uses===<br />
VSD-E series has been successfully used also in non-motion related applications mainly in torque mode (a.k.a. current control mode). In these applications a LC filter has been used after drive to smoothen out the [[PWM]] output.<br />
* High power LED driver with dimming (up to 160 VDC led strings) <br />
* High power [http://en.wikipedia.org/wiki/Thermoelectric_cooling thermoelectric cooling] driver<br />
==Key features==<br />
===Single axis a.k.a Evolution mode===<br />
[[File:Cascade position controller.png|thumb|500px|Simplified VSD drive block diagram in position [[control modes|control mode]]. ]]<br />
List of key features:<br />
*Easy setup via [[GDtool]] software <br />
*[[SimpleMotion library|SimpleMotion]] control library for PC, C/C++/C#, LabVIEW etc<br />
*Various low level command inputs ([[Pulse and direction|pulse/dir]], [[PWM]], [[quadrature]], [[Analog reference|±10V]])<br />
*Easy connection to fieldbuses like EtherCAT or CANopen (more info)<br />
*Most [[Motor types|AC/BLDC/DC and linear servo motors]] supported<br />
*Advanced sinusoidal field oriented control (FOC)<br />
*True current control protects equipment and boosts responsiveness<br />
*Reliability guaranteed by wide safety margins and quality components <br />
*Electrical & mechanical braking of motor in faults & disable<br />
*Fully automatic internal homing controller<br />
*Optimized for CNC and machine automation<br />
*Robust 200V 60A MOSFET power stage<br />
*Panel installation, 19" rack compatible.<br />
*Regenerative brake resistor output<br />
*Hard to kill: short circuit, over current, over temperature, [[I²t protection|I²t]], over voltage and under voltage protections<br />
*Advanced positioning with acceleration limit and smoothing<br />
<br />
See also:<br />
*[http://www.granitedevices.fi/index.php?q=servo-drive-vsd-e VSD-E/XE Evolution mode product site]<br />
<br />
===DualDC mode===<br />
A special feature of VSD-E/XE is that it can control two independent brush DC servo motors on single drive. This mode is achieved by downloading a freely available DualDC firmware to the drive. DualDC mode has several restrictions compared to single axis mode due to hardware limitations. <br />
<br />
*[http://granitedevices.fi/index.php?q=vsde-dualdc-servo DualDC web site]<br />
==Purchasing==<br />
===Before purchase===<br />
Before purchasing the drive, it is suggested to:<br />
* Ensure product suitability for your needs:<br />
** See [http://granitedevices.fi/assets/files/vsd-e_160_manual.pdf VSD-E/XE PDF manual chapter 13] for supported motor and feedback device types<br />
** Check if a compatible [[setpoint signal]] is available from your [[Controller|controller]]<br />
** Read through the drive manual to understand the product and requirements better<br />
* Make clear what additional items will be needed, such as power supplies and possibly interface electronics<br />
* If unsure about suitability, please send inquiry to [[Granite Devices support]] to be sure<br />
<br />
===How to purchase===<br />
VSD series is discontinued and not available anymore. Large quantities can be negotiated separately.<br />
<br />
==Model comparison==<br />
{| class="wikitable"<br />
|-<br />
! !! VSD-E !! VSD-XE<br />
|-<br />
| Supported motors|| AC, BLDC, DC (and stepper preliminary) ||AC, BLDC, DC (and stepper preliminary) <br />
|-<br />
| Supported feedback devices||Quadrature encoder & Hall sensors||Quadrature encoder & Hall sensors<br />
|-<br />
| [[Control modes]] || Torque, Velocity, Position ||Torque, Velocity, Position<br />
|-<br />
| [[Setpoint signal]] types|| [[Pulse and direction]], [[quadrature]], [[Analog setpoint|+/-10V]], [[SPI]], [[PWM]]||[[Pulse and direction]], [[quadrature]], [[Analog setpoint|+/-10V]], [[SPI]], [[PWM]]<br />
|- <br />
| Support DualDC || Yes || Yes<br />
|-<br />
| Voltage range || 12-160VDC || 12-160VDC<br />
|-<br />
| Continuous output current range for AC/BLDC || 0.1-10A || 0.1-14A<br />
|-<br />
| Continuous output current range for DC || 0.1-14A || 0.1-18A<br />
|-<br />
| Peak output current range for AC/BLDC || 0.1-20A || 0.1-20A<br />
|-<br />
| Peak output current range for DC || 0.1-40A || 0.1-40A<br />
|-<br />
| Standard warranty || 1 year || 2 years<br />
|}<br />
For detailed specifications and supported [[motor types]], please see the [http://granitedevices.fi/assets/files/vsd-e_160_manual.pdf VSD-E/XE manual (PDF)]<br />
<br />
==Setup & documentation==<br />
* [http://granitedevices.fi/index.php?q=servo-drive-vsd-e VSD-E/XE product web site]<br />
<br />
* [http://granitedevices.fi/assets/files/VSD-E_GettingStarted.pdf Getting started guide (PDF)]<br />
<br />
* [http://granitedevices.fi/assets/files/vsd-e_160_manual.pdf VSD-E/XE manual (PDF)]<br />
*GDTool manual & Tuning guide available from GDtool 2.5 Help menu<br />
<br />
[[Category:Downloads]]<br />
[[Category:Motor_drives]]<br />
[[Category:VSD-E/XE]]</div>Esahttps://granitedevices.com/w/index.php?title=Granity_user_guide/Fault_limits&diff=6950Granity user guide/Fault limits2018-11-19T07:24:46Z<p>Esa: /* Drive fault limits */</p>
<hr />
<div>{{SetGranityTabPageTitle|Fault limits}}[[File:GranityFaultlimits.png|thumb]]<br />
This tab serves as:<br />
* Set fault triggering levels and tolerances<br />
==Parameters==<br />
===Drive fault limits===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| FOC || Over current tolerance || Set sensitivity of over current faults || This variable defines how much over current (measured motor phase current above the peak current limit (Machine/MMC) drive allows before entering into fault state. The ''Minimum'' setting has lowest threshold and gives fault easier, ''Maximum'' tolerates largest over current spikes before faulting.<br />
<br />
Set this as low as possible without getting OC faults in normal use to maximally protect your equipment. If larger than ''Medium'' setting is needed, see [[Over current fault troubleshooting]] for solution to the problem.<br />
<br />
FOC is firmware specific, it adjust including, but not limited to, the sensitivity of the short circuit protection.<br />
It's recommended to set to that which doesn't raise fault flags, and then add 1-2 steps as overhead.<br />
|-<br />
| FOV || Over voltage fault threshold || Maximum allowed HV DC bus voltage before entering into over voltage fault. Also defines at which voltage drive starts driving [[Argon user guide/Braking resistor|braking resistor]] to reduce bus voltage.|| See [[Configuring drive voltage limits FUV and FOV]].<br />
|-<br />
| FUV || Under voltage fault threshold || Minimum allowed HV DC bus voltage before drive starts motor initialization after power-on. Also if this voltage is exceeded during active operation, drive enters into under voltage fault state. || See [[Configuring drive voltage limits FUV and FOV]].<br />
|}<br />
<br />
===Goal deviation faults===<br />
These settings define how much motor may deviate from the setpoints or allowed operating conditions before entering in fault state.<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| FFT || Goal fault filter time || Set time filter for this fault group. Defines how long drive allows exceeding these conditions before entering into fault state. || Normally values between 0-0.5 seconds are safe. Higher value may pose danger to user or equipment as motor is not being stopped soon after error condition.<br />
|-<br />
| FPT || Position tracking error threshold || Defines how much position may deviate from the setpoint || rowspan="3" |The value is set as hardware units. Adjust the value and observe the right side value displaying the hardware value converted to a real world units such as ''revolutions/s''. Make sure [[Granity user guide/Machine|Machine tab]] settings are set-up first to get correct conversion. <br />
|-<br />
| FVT|| Velocity tracking error threshold ||Defines how much velocity is allowed to deviate from velocity setpoint<br />
|-<br />
|FEV || Over speed fault || Defines the maximum allowed speed (feedback based) which the axis is allowed to operate before entering to the overspeed fault state <br />
|-<br />
|FMO || Motion fault threshold|| Defines the sensitivity to enter into motion fault. Used for detecting mechanically blocked motion and DC motor runaway (loss of feedback) || If motion fault feature needed, adjust the value experimentally by increasing it until faults don't occur in normal use. A good starting value may be motor continuous current in milliamperes/2.<br />
|-<br />
|LSF || Limit switch function || Define drive action when position is out of allowed travel range (i.e. limit switch input is open). Device specific notes: <br />
*{{G2.0}}: the ''Dynamic braking'' option is not implemented<br />
*{{G2.1}} and later: LSF also works with software limits (when {{param|HHL}} and {{param|HLL}} are set and homing is successfully finished. With parameter {{param|LFO}} it's possible to control whether soft travel limits will activate the function.<br />
|| Choose preferred action when position of motor is beyond allowed travel (i.e. physical limit switches are open). Choices:<br />
*''Do nothing'': no action is taken beyond travel limits (in other words, drive ignores travel limit)<br />
*''Disable torque'': drive will set internal torque setpoint to zero if torque direction is set to cause motor go further from allowed travel direction (in other words, torque is allowed only towards allowed travel direction)<br />
*''Fault stop'': drive sets Motion fault state active which sets drive in inactive state (i.e. motor will be braked and requires user action to move motor back to allowed travel range and then clear fault state)<br />
*''Dynamic braking'': drive attempts to dynamically brake motor (resist motion) if it's being commanded to out of travel bounds but allows command towards allowed direction<br />
|-<br />
|LSP || Limit switch polarity || Set the polarity of connected limit switch state interpretation<br />
|| Choose which digital logic state represents the overtravel condition. As in typical wiring, switch is connected between GND and limit switch input (which has internal pull-up resistor), then following will apply:<br />
*Normally closed (NC) switches, select Logic high when overtravel<br />
*Normally open (NO) switches, select Logic low when overtravel<br />
|-<br />
|LFO || Perform Limit switch function on || Specifies when {{param|LFS}} will activate|| Typical use cases are:<br />
*User has no physical limit switches installed but wishes {{param|LFS}} to activate if motor exceeds the software travel limits {{param|HHL}} or {{param|HLL}}. In this case set this option to "Physical limit switch & Soft travel limits".<br />
*If system has physical limit switches and user also uses software travel limits, then the main travel limiting should be the software limits and physical limits would merely act as backup in case of failure. In this cases it's useful to set this option as "Physical limit switch only".<br />
*If user has only physical limit switches in use and no software travel limits, then this option has no effect.<br />
|}<br />
{{next|[[Granity user guide/Testing]]}}<br />
[[Category:Granity user guide]]<br />
[[Category:Pages needing update after FW upgrades]]</div>Esahttps://granitedevices.com/w/index.php?title=Granity_user_guide/Machine&diff=6949Granity user guide/Machine2018-11-19T07:21:38Z<p>Esa: /* Motor parameters */</p>
<hr />
<div>{{SetGranityTabPageTitle|Machine}}[[File:GranityMachine.png|thumb]]<br />
The Machine tab serves following purposes:<br />
* Choose axis type (linear/rotary) and its scale<br />
* Set motor type and properties<br />
* Set [[Feedback devices|feedback device]] types and properties<br />
==Parameters==<br />
===Axis mechanics===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| AXT|| Axis type & units || Select axis type and real world units used || Choose your mechanical axis type here. AXT and AXS affect only the [[Granity unit conversion|unit conversion of Granity]] parameters (such as accel/velocity limit unit conversions), no effect on drive operation.<br />
|-<br />
| AXS|| Axis scale || Set axis travel per motor revolution || Determine how much your axis moves per revolution and enter it here. I.e. if you have selected ''Linear[mm]'' as AXT, then calculate and enter how many millimeters axis moves per revolution. AXT and AXS affect only the [[Granity unit conversion|unit conversion of Granity]] parameters (such as accel/velocity limit unit conversions), no effect on drive operation.<br />
|-<br />
| AXI|| Invert direction || Set the positive direction of axis||State of this checkbox determines which rotation/travel direction is positive and which negative. Change this to invert the direction of axis.<br />
|}<br />
<br />
===Motor parameters===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| MT || Motor type || Motor type to be driven || Choose your [[motor types|motor type]]. <br />
* If motor is linear type, see [[configuring linear servo motor]]<br />
* If motor is stepping motor, see [[Using stepping motor with IONI]]<br />
|-<br />
| MMS || Maximum speed || The maximum allowed speed of the motor. || Check the motor datasheet for correct value.<br />
|-<br />
| MPC || Pole count || Set motor magnetic pole count (not in DB motors) || Set number of magnetic poles present in the AC/BLDC motor according to motor specifications. If not specified, see [[Determining motor pole count]] or in case of linear motor, see [[Configuring linear servo motor]].<br />
|-<br />
| MCC || [[Motor peak and continuous current limits|Continuous current limit]] || Motor continuous current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS)|| rowspan="2" |Use value from your motor data sheet or any lower value to reduce torque. If your AC/BLDC motor phase current is specified as RMS value, then multiply it with 1.41 to get peak value of sine.<br />
|-<br />
| MMC || [[Motor peak and continuous current limits|Peak current limit]] || Motor peak current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS). Drive outputs this current to motor for max of 2 second duration and then falls back to the continuous limit (MCC). MCC will be also used if motor temperature modeling (see MTC) indicates maximum temperature.<br />
|-<br />
| MR || Coil resistance || Motor [[phase-to-phase]] winding resistance|| rowspan="2" |See motor data sheet and enter the value here. If unknown, see [[Tuning torque controller]].<br />
|-<br />
| ML || Coil inductance ||Motor [[phase-to-phase]] winding inductance <br />
|-<br />
| MTC || [[Motor peak and continuous current limits|Thermal time constant]] || Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with peak current (MMC) || Refer to your motor data sheet for correct value. <br />
<br />
If not available, use formula 200*motor_weight (kg) as approximate, so a 2 kg motor would get a 400 second time constant. There is no guarantee of accuracy of this method.<br />
|-<br />
|MPP<br />
|Peak power limit<br />
|Sets the upper limit of power that drive is allowed to feed into motor. If power limit is about to exceed, drive will start throttling current to limit the power consumption of motor.<br />
|This is most useful when using switching mode power supplies that might fault under overload conditions (causing under voltage fault in drive). In such case, set this to match power supply rating or below the rating.<br />
|}<br />
<br />
===Position feedback device===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| FBD || [[Feedback devices|Feedback device]] || Position feedback device type attached to the axis || Choose connected device type. Refer to your drive specifications for supported feedback device choices. Note that if unsupported FBD is selected, drive will indicate an error and refuses to initialize.<br />
|-<br />
| FBR || Feedback device resolution || Resolution of the feedback device per revolution || In case of [[quadrature]] encoder choose number of lines or pulses per revolution. Make sure to enter resolution of feedback device ''before'' 4x quadrature decoding (encoder real resolution is 4 times the number of lines per revolution).<br />
<br />
If limited motion range and [[Tracking error|tracking error fault]] after certain travel distance is observed, try dividing this parameter value by 4 or multiplying by 4.<br />
<br />
If using '''SinCos''' feedback device, multiply encoder line count by the selected interpolation factor and enter it as the feedback device resolution. I.e. if SinCos encoder has 1024 lines/sincos cycles per revolution, and you are using 64X interpolation, then set FBR as 1024*64=65536 PPR.<br />
|-<br />
| FBI || Invert feedback direction || Set polarity of feedback device counting direction || Motor and feedback device must have same electrical positive rotation direction to make a stable servo system. If your system shows no stability (instant following error after a motor "jump"), try changing this setting.<br />
|-<br />
| FBH || [[Feedback devices|Hall sensors]] || Configure Hall sensors if available || If motor Hall sensors are connected and wires, choose option from the list to utilize them. <br />
|}<br />
{{next|[[Granity user guide/Tuning]]}}<br />
[[Category:Granity user guide]]</div>Esahttps://granitedevices.com/w/index.php?title=Changing_SimpleMotion_baud_rate&diff=6935Changing SimpleMotion baud rate2018-10-26T07:26:09Z<p>Esa: </p>
<hr />
<div>RS485 based [[SimpleMotion V2]] bus supports changing baud rate on the fly from the default 460800 bps. The procedure in simplest form is done by writing new baudrate value into parameter SMP_BUS_SPEED, and after that closing and re-opening the bus with the same speed.<br />
<br />
However, in addition it is recommended to setup watchdog feature that will reset bus baudrate to default in case of connection is lost and timeouted. Example:<br />
<br />
<syntaxhighlight lang="C"><br />
/*<br />
Notes:<br />
<br />
This is a complete demo application to change SM bus baud rate with error handling.<br />
<br />
This demo requires SimpleMotion V2 library from GitHub that is dated 27th July 2018 (27.7.2018) or later.<br />
*/<br />
<br />
#include <stdio.h><br />
#include "simplemotion.h"<br />
<br />
//GLOBALS<br />
smbus smhandle=-1; //SM bus handle (no requirement to be global, we're using it as global just to simplify this example)<br />
const char *SMBusDeviceName="FTDI0";<br />
<br />
//simple function to test whether communication works to a range of slave devices.<br />
//returns smtrue if connection test passed and smfalse if any of devices didn't respond properly<br />
smbool TestConnection( int fromAddress, int toAddress )<br />
{<br />
for(int i=fromAddress; i<=toAddress; i++)<br />
{<br />
smint32 serialNr;<br />
if(smRead1Parameter(smhandle, i, SMP_SERIAL_NR, &serialNr ) != SM_OK)<br />
{<br />
return smfalse;//read failed<br />
}<br />
}<br />
return smtrue;//all passed<br />
}<br />
<br />
//open bus with custom baud rate. this can be called again to re-open bus if connection is lost at some point<br />
//(i.e. if some communicating function timeouts and does not return SM_OK).<br />
//this function will return smtrue on success, smfalse on any error.<br />
smbool OpenBusWithCustomBaudrate()<br />
{<br />
//new bus baud rate<br />
const int pbs=1000000; //note: for FTDI USB chip based interfaces (i.e. SMV2USB and IONICUBE with USB connector, the max supported PBS is 3000000)<br />
<br />
//adjustable in 10ms steps up to 8000 ms<br />
const int slaveSMWatchdogTimeountMs=700;<br />
<br />
//this defines how low SM library will wait for slave device's response before<br />
//returing from a communicating function call (such as smSetParameter or smGetParameter).<br />
//Make sure to set this value higher than slaveSMWatchdogTimeountMs to have SM watchdog working properly.<br />
const int slaveResponseTimeoutMs=1000;<br />
<br />
//close bus first if it's been opened previously (if re-calling OpenBusWithCustomBaudrate)<br />
if(smhandle>=0)<br />
smCloseBus(smhandle);<br />
<br />
//open SM bus with default baud rate<br />
smSetBaudrate(460800);<br />
smhandle=smOpenBus(SMBusDeviceName);<br />
<br />
//test if bus open failed<br />
if(smhandle<0)<br />
return smfalse;//failed<br />
<br />
//setup SM bus watchdog feature for all slave devices.<br />
//when communication is timeouted, motor will be stopped AND their baud rate will be reset to default so we can<br />
//easliy re-connect to them.<br />
smSetParameter(smhandle,0,SMP_FAULT_BEHAVIOR,((slaveSMWatchdogTimeountMs/10)<<8)|1);<br />
<br />
//set SM library-end timeout for any communicating command. this is longer than slaveSMWatchdogTimeountMs<br />
//to ensure that slave baudrate will always reset if communication error happens (no valid response received<br />
//that SM library can read)<br />
smSetTimeout(slaveResponseTimeoutMs);<br />
<br />
//change baudrate of all devices on the bus (by giving address 0). it is important to change all devices at once so no communication errors happen due to some wrong baud rate devices on the bus.<br />
smSetParameter(smhandle,0,SMP_BUS_SPEED,pbs);<br />
<br />
//reopen SM bus device with new baud rate<br />
smCloseBus(smhandle);<br />
smSetBaudrate(pbs);<br />
smhandle=smOpenBus(SMBusDeviceName);<br />
<br />
//test if bus open failed<br />
if(smhandle<0)<br />
return smfalse;//failed<br />
<br />
//optional, but recommended: test that new baud rate works on each device on the bus<br />
//i.e. it can be done by reading some variable from each of the bus devices, such as SMP_SERIAL_NR<br />
return TestConnection( first slave device address, last slave device address );<br />
<br />
//after this function returns, continue using bus at new speed normally.<br />
//keep in mind that new commands must be sent to bus at least with the rate defined by slaveSMWatchdogTimeountMs.<br />
//if any command fails to timeout, or by any other reason timeout occurs, then devices have reset to default speed<br />
//and reinitialization of the speed is needed.}<br />
}<br />
<br />
//Demo SimpleMotion application<br />
int main()<br />
{<br />
smSetDebugOutput(SMDebugMid,stderr);//enable some debug printing from SM library<br />
<br />
//try open bus with custom baud rate<br />
if( OpenBusWithCustomBaudrate() == smfalse )<br />
{<br />
//handle error<br />
printf("Can't open bus\n");<br />
return 0;<br />
}<br />
<br />
//do some communication in main loop. in this demo we just read SMP_DEVICE_TYPE and check if errors occur:<br />
while(1)<br />
{<br />
smint32 deviceType;<br />
int slaveAddress=enter some address here;<br />
smRead1Parameter(smhandle, slaveAddress, SMP_DEVICE_TYPE, &deviceType );<br />
<br />
if(getCumulativeStatus(smhandle)!=SM_OK)<br />
{<br />
//some of previous SM commands have failed.<br />
<br />
//handle error:<br />
printf("SM error occurred, status %d\n", getCumulativeStatus(smhandle));<br />
resetCumulativeStatus(smhandle);<br />
//...continue this<br />
<br />
//if this is happened due to the command timeout, then we know that bus baud rate has been reset to default in all<br />
//slave devices thanks to SM watchdog.<br />
//in this case, then call OpenBusWithCustomBaudrate BEFORE continuing communication<br />
return 1;<br />
}<br />
else //read ok<br />
{<br />
//print result & quit demo app, in real app do something else maybe<br />
printf("Read succeed, device type at address %d = %d\n", slaveAddress, deviceType);<br />
//we're happy exit app:<br />
smCloseBus(smhandle);<br />
return 2;<br />
}<br />
}<br />
}<br />
</syntaxhighlight><br />
<br />
Baud rate parameter behavior:<br />
*Newly set baud rate will stay active only when device stays on (logic voltage on and drive not restarted). Baud rate will always reset to default 460800 BPS if device is powered off/on.<br />
*If you setup the SimpleMotion watchdog has been set, then baud rate will also reset to default also if connection is lost for certain period of time. This is useful ensuring that you can re-connect again to the device with default baud rate and then re-do the baud date change procedure.<br />
==See also==<br />
*RealTimeControlExample from https://github.com/GraniteDevices/SimpleMotionV2Examples/tree/develop - it is another practical example app that changes baud rate<br />
<br />
[[Category:Development]]<br />
[[Category:Software]]<br />
[[Category:SimpleMotion]]</div>Esahttps://granitedevices.com/w/index.php?title=Mach4_SimpleMotion_drive_plugin&diff=6884Mach4 SimpleMotion drive plugin2018-07-31T07:08:02Z<p>Esa: </p>
<hr />
<div>[[Mach4]] is a CNC motion control software developed by Newfangled Solutions. The Mach4 SimpleMotion drive plugin is provided by Granite Devices to run any [[SimpleMotion V2|SimpleMotion]] compatible motor drivers, such as [[IONI]] or [[ATOMI]] with [[Mach4]].<br />
[[File:mach4.png|thumb|Mach4 main screen]][[File:Mach4 plugin atomi lohkokaavio.svg|thumb|Typical usage of Mach4, Mach4 plugin and [[ATOMI]] drive]]<br />
<br />
{{Info|The plugin has been developed and tested with industrial version 4.2.0.3481. Hobby version 4.2.0.3804 does not work.}}<br />
<br />
== Features ==<br />
The plugin seamlessly integrates Granite Device drives into Mach4 CNC software. The supported features are:<br />
* Control up to 6 independent motor axes<br />
* Direct USB connection to drives by using with highly reliable built-in FTDI USB chipset on the drives<br />
* Uses non-real-time dependent [[Buffered motion stream in SimpleMotion V2]] method to feed trajectory points to drives<br />
* Support axis homing/referencing with built-in [[Homing|homing functions]] of the drive, including [[Hard-stop homing]]<br />
* Support spindles in various operating modes<br />
** Velocity controlled spindle<br />
** Position controlled spindle with rigid tapping<br />
* Continuous error & fault monitoring on communication link and on each drive individually<br />
<br />
== Requirements ==<br />
The following things are needed for building a CNC machine using Mach4 and motor drivers connected with SimpleMotion bus:<br />
* [[ATOMI|Atomi]], [[IONI Servo & Stepper Drive|IONI]] or [[ARGON Servo Drive|Argon]]-based motion system, e.g. CNC mill, connected with [[SimpleMotion V2|SimpleMotion]] bus<br />
* Mach4 software + license<br />
* SimpleMotion adapter depending on selected motor drivers<br />
* [[Granity]] software for configuring the motor drivers<br />
<br />
== Motor driver configuration with Granity software ==<br />
'''NOTE: The SimpleMotion motor drivers must be configured before trying to control them with Mach4!'''<br />
<br />
This section shows the basic configuration for motor drivers with [[Granity]] software. More support for using this software can be found from the [[Granity user guide]]. The following subsection titles are links to corresponding guide pages. Download the Granity software from its wiki page, launch it and follow these steps:<br />
<br />
==== [[Granity user guide/Connect|Connect to the motor driver]] ====<br />
Connect to a motor from the "Connect" tab by selecting the interface device, and clicking "Connect to drive".<br />
<br />
[[File:GranityConnect.png|400px]]<br />
<br />
From the opening list, select a motor driver and click "Open"<br />
<br />
[[File:GranityConnectSelectDriver.png|400px]]<br />
<br />
==== [[Granity user guide/Goals|Goals]] ====<br />
The goals tab contains the driver function, input signal, motion dynamics, homing and soft limit settings.The following table shows the most important settings in the goals tab. All settings are explained in Granity software in more depth.<br />
{| class="wikitable"<br />
!Setting<br />
!Value<br />
|-<br />
|{{param|CM}}<br />
|Position control in motion drivers, position or velocity control in spindle driver<br />
|-<br />
|{{param|CEN}}<br />
|Enable this if you don't want the motor driver to be enabled automatically during the startup<br />
|-<br />
|{{param|CEI}}<br />
|Standard<br />
|-<br />
|{{param|CRI}}<br />
|Serial only<br />
|-<br />
|{{param|HME}}<br />
|Select "Homing on external command" if you want to home the axis from Mach4 GUI<br />
|}<br />
If homing is enabled, the position soft limits can also be used to limit the axis motion. The soft limits can be set by following:<br />
# Home the axis by pressing button "Start homing now". After homing, the axis stops and it's setpoint is zero<br />
# Set the position low limit to zero<br />
# Go to Testing tab and find a good high limit position by incrementing the setpoint<br />
# Read the current setpoint, go to the Goals tab and set it to the position high limit<br />
<br />
==== [[Granity user guide/Machine|Machine]] ====<br />
The machine tab lets you to choose the axis type and scale, the motor type and properties and the feedback device type and properties. The values can be anything depending on the system, so any good values can't be shown here.<br />
<br />
==== [[Granity: Tuning|Tuning]] ====<br />
In the tuning tab you can set the torque, velocity and position controller settings.<br />
<br />
==== [[Granity: Tuning|Fault limits]] ====<br />
In this tab, you can set the fault triggering levels and tolerances<br />
<br />
==== [[Granity user guide/Testing|Testing]] ====<br />
This tab lets you to test your motor by changing its setpoint. It also shows the device state.<br />
<br />
'''NOTE: Ensure that the motors work correctly before trying to control them with Mach4!'''<br />
<br />
== Mach4 installation & configuration ==<br />
<br />
==== Mach4 installation ====<br />
* Download and install Mach4<br />
* Download the plugin files to the Mach4 plugin folder inside of its installation folder. The download link can be found at the end of this page.<br />
* Read the Mach4 installation, configuration and operation [http://www.machsupport.com/help-learning/product-manuals/ manuals] before use<br />
<br />
==== Open the Mach4 Configuration dialog ====<br />
[[File:MachConfigurationTab.png|400px]]<br />
<br />
==== Enable the SimpleMotion drive plugin from the plugins tab ====<br />
[[File:MachConfigurationPlugins.png|800px]]<br />
<br />
The program should ask to restart Mach4 after enabling the plugin. Restart Mach4 before continuing.<br />
<br />
==== Select the SimpleMotion drive plugin to be used as a motion device ====<br />
[[File:SelectMotionDevTab.PNG|400px]]<br />
<br />
[[File:SelectMotionDev.png|400px]]<br />
<br />
==== Configure the motors ====<br />
Open the Mach configuration again, and select the motors tab.<br />
<br />
Select each used motor and configure them as following:<br />
* The motor indexes are always one smaller than the SimpleMotion axis numbers. For example, Motor0 means drive 1 in the SimpleMotion bus.<br />
* How many steps the motors should move for each unit of measure<br />
* The maximum velocity of each motor<br />
* The maximum acceleration of each motor<br />
* Motors can also be reversed here<br />
[[File:MachConfigurationMotors.png|800px]]<br />
<br />
==== Axis mapping ====<br />
Enable the axes used in your machine in the Axis Mapping tab. The following picture shows configuration for a 3-axis machine where the spindle motor is also controlled by Mach4. The axes X-C (0-5) are for motion axes, and any of the OB axes (6-11) can be used for controlling a spindle motor. <br />
* Enable used axes<br />
* The motor indexes are always one smaller than the SimpleMotion drive numbers. For example, Motor0 means drive 1 in the SimpleMotion bus<br />
* Select a motor for each axis. Slave motors can also be set for an axis if they use more than one motor<br />
* Do not enable axes without motors<br />
* The spindle control type (velocity or position-controlled) will be set later<br />
[[File:MachConfigurationAxisMapping.png|800px]]<br />
<br />
==== Homing / Soft limits ====<br />
* Set the homing order. If some axes have the same number, they will be homed at the same time<br />
* Enable soft limits for motion axes<br />
* Set the soft limits to prevent axes from hitting their physical limits. If you don't know what to put here, you can also configure them later. NOTE: these soft limits are not same as the limits configured for the motor drivers in Granity software!<br />
* The homing direction, offset and speed are selected in Granity software, the values here don't have any effect in motion.<br />
[[File:MachConfigurationHomingAndSoftLimits.png|800px]]<br />
<br />
==== Spindle configuration ====<br />
* Set min. and max. rpm for the spindle motor if it is controlled by Mach4.<br />
* The max. rpm set here doesn't have effect to the real speed of velocity-controlled spindle. Running a velocity-controlled spindle by here configured max. speed runs the spindle motor at the maximum speed configured in the SimpleMotion drive.<br />
* If the spindle is position-controlled, the spindle motor should be selected in the "Step/Dir Spindle Axis"-dropdown. The axis must be enabled and mapped before this.<br />
[[File:MachConfigurationSpindlePos.png|800px]]<br />
<br />
==== SimpleMotion drive plugin configuration ====<br />
Save the Mach4 configuration by pressing the OK button. Then open the SimpleMotion drive plugin configuration:<br />
<br />
[[File:PluginConfigurationTab.PNG|400px]]<br />
<br />
Set the following settings. The default values work in most cases.<br />
* SimpleMotion V2 adapter FTDI COM port number<br />
* SimpleMotion V2 buffer max. fill percentage<br />
* In the case of using a velocity-controlled spindle, its axis should be selected here. The list shows only mapped and enabled axes that are not selected as position-controlled spindle<br />
[[File:PluginConfiguration.PNG|400px]]<br />
<br />
Save the SimpleMotion drive plugin configuration by pressing "OK", and start using the software!<br />
== Downloads ==<br />
<br />
==== Versions ====<br />
{| class="wikitable"<br />
!Version<br />
!Comments<br />
!Download<br />
|-<br />
|0.9.0b<br />
|The first beta release<br />
|[[:File:M4SM.zip]]<br />
|}<br />
<br />
==== Known issues ====<br />
* A possible small bump after disabling or stopping motion due to aborted buffered motion<br />
<br />
=== Giving ideas, bug reports, general discussion===<br />
To discuss about the plug-in and it's features, join the community at: https://community.granitedevices.com/t/mach4-granite-devices-motion-plugin-open-beta/1022<br />
__FORCETOC__<br />
<br />
[[Category:ATOMI_features]]<br />
[[Category:Application]]<br />
[[Category:CNC]]<br />
[[Category:IONI_features]]<br />
[[Category:IONI_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=Essential_Basics&diff=6883Essential Basics2018-07-31T06:49:16Z<p>Esa: </p>
<hr />
<div>These basics are the most fundamental steps to get a motor running in order for an application to work properly.<br />
<br />
# Motor supply voltage (HV) can be higher than nominal motor voltage<br />
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct.<br />
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance.<br />
# The maximum output current of the PSU is not the maximum current to the motor<br />
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current.<br />
#* In ideal world, e.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply.<br />
# Encoder <b>must</b> be attached directly to the motor shaft<br />
#* In practice, all gears and other such mechanics have non-idelities such as play, torsion, and/or possibility of slipping.<br />
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise.<br />
#* Slipping encoder will give false data, which will cause the motor to either stall or run loose.<br />
#* Encoder resolution must be exact for each rotation. Rounded data will also cause the known magnetic angle to be lost, and the motor will stall or run loose after few turns.<br />
# Phasing a.k.a. phase search<br />
#* If hall sensors or absolute encoder are not used, the motor needs to be rotated/moved to find a known magnetic angle. Only after this the encoder can give reliable information of the motor position so that it can be controlled properly.<br />
#* If phasing is not done correctly in free motion, the motor can not be controller properly.<br />
# STO (Safe Torque Off) and Enable<br />
#* If SimpleMotion is not used, STO and Enable must be wired physically<br />
#* In Granity 1.14.0 and later, both can be ignored for tuning.<br />
# Torque tuning must be done properly<br />
#* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation.<br />
# Testing motor and encoder wiring in torque mode<br />
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality.<br />
#* Follow the instructions here: [[Servo motor torque mode test]].<br />
# SimpleMotion <b>must</b> be terminated properly <b>only</b> at the physical end of the bus<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Essential_Basics&diff=6882Essential Basics2018-07-27T10:01:00Z<p>Esa: </p>
<hr />
<div>These basics are the most fundamental steps to get a motor running in order for an application to work properly.<br />
<br />
# Motor supply voltage (HV) can be higher than nominal motor voltage<br />
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct.<br />
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance.<br />
# The maximum current to the motor is not the maximum current rating of the PSU<br />
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current.<br />
#* In ideal world, e.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply.<br />
# Encoder <b>must</b> be attached directly to the motor shaft<br />
#* In practice, all gears and other such mechanics have non-idelities such as play, torsion, and/or possibility of slipping.<br />
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise.<br />
#* Slipping encoder will give false data, which will cause the motor to either stall or run loose.<br />
#* Encoder resolution must be exact for each rotation. Rounded data will also cause the known magnetic angle to be lost, and the motor will stall or run loose after few turns.<br />
# Phasing a.k.a. phase search<br />
#* If hall sensors or absolute encoder are not used, the motor needs to be rotated/moved to find a known magnetic angle. Only after this the encoder can give reliable information of the motor position so that it can be controlled properly.<br />
#* If phasing is not done correctly in free motion, the motor can not be controller properly.<br />
# STO (Safe Torque Off) and Enable<br />
#* If SimpleMotion is not used, STO and Enable must be wired physically<br />
#* In Granity 1.14.0 and later, both can be ignored for tuning.<br />
# Torque tuning must be done properly<br />
#* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation.<br />
# Testing motor and encoder wiring in torque mode<br />
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality.<br />
#* Follow the instructions here: [[Servo motor torque mode test]].<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Essential_Basics&diff=6881Essential Basics2018-07-27T10:00:26Z<p>Esa: </p>
<hr />
<div>These basics are the most fundamental steps to get a motor running in order for an application to work properly.<br />
<br />
# Motor supply voltage (HV) can be higher than nominal motor voltage<br />
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct.<br />
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance.<br />
# The maximum current to the motor is not the maximum current rating of the PSU<br />
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current.<br />
#* In ideal world, e.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply.<br />
# Encoder <b>must</b> be attached directly to the motor shaft<br />
#* In practice, all gears and other such mechanics have non-idelities such as play, torsion, and/or possibility of slipping.<br />
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise.<br />
#* Slipping encoder will give false data, which will cause the motor to either stall or run loose.<br />
#* Encoder resolution must be exact for each rotation. Rounded data will also cause the known magnetic angle to be lost, and the motor will stall or run loose after few turns.<br />
# Phasing<br />
#* If hall sensors or absolute encoder are not used, the motor needs to be rotated/moved to find a known magnetic angle. Only after this the encoder can give reliable information of the motor position so that it can be controlled properly.<br />
#* If phasing is not done correctly in free motion, the motor can not be controller properly.<br />
# STO (Safe Torque Off) and Enable<br />
#* If SimpleMotion is not used, STO and Enable must be wired physically<br />
#* In Granity 1.14.0 and later, both can be ignored for tuning.<br />
# Torque tuning must be done properly<br />
#* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation.<br />
# Testing motor and encoder wiring in torque mode<br />
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality.<br />
#* Follow the instructions here: [[Servo motor torque mode test]].<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=TOC&diff=6880TOC2018-07-27T09:12:05Z<p>Esa: Created page with "{| class="wikitable" ! ! ! ! |- | | | | |- | | | | |- | | | | |} "</p>
<hr />
<div>{| class="wikitable"<br />
!<br />
!<br />
!<br />
!<br />
|-<br />
|<br />
|<br />
|<br />
|<br />
|-<br />
|<br />
|<br />
|<br />
|<br />
|-<br />
|<br />
|<br />
|<br />
|<br />
|}</div>Esahttps://granitedevices.com/w/index.php?title=Essential_Basics&diff=6874Essential Basics2018-07-25T12:02:15Z<p>Esa: </p>
<hr />
<div>These basics are the most fundamental steps to get a motor running in order for an application to work properly.<br />
<br />
# Motor supply voltage (HV) can be higher than nominal motor voltage<br />
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct.<br />
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance.<br />
# The maximum current to the motor is not the maximum current rating of the PSU<br />
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current.<br />
#* In ideal world, e.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply.<br />
# Encoder <b>must</b> be attached directly to the motor shaft<br />
#* In practice, all gears and other such mechanics have non-idelities such as play, torsion, and/or possibility of slipping.<br />
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise.<br />
#* Slipping encoder will give false data, which will cause the motor to either stall or run loose.<br />
#* Encoder resolution must be exact for each rotation. Rounded data will also cause the known magnetic angle to be lost, and the motor will stall or run loose after few turns.<br />
# STO and Enable<br />
#* If SimpleMotion is not used, STO and Enable must be wired physically<br />
#* In Granity 1.14.0 and later, both can be ignored for tuning.<br />
# Torque tuning must be done properly<br />
#* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation.<br />
# Testing motor and encoder wiring in torque mode<br />
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality.<br />
#* Follow the instructions here: [[Servo motor torque mode test]].<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Essential_Basics&diff=6873Essential Basics2018-07-25T11:57:23Z<p>Esa: </p>
<hr />
<div>These basics are the most fundamental steps to get a motor running in order for an application to work properly.<br />
<br />
# Motor supply voltage (HV) can be higher than nominal motor voltage<br />
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct.<br />
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance.<br />
# The maximum current to the motor is not the maximum current rating of the PSU<br />
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current.<br />
#* In ideal world, e.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply.<br />
# Encoder <b>must</b> be attached directly to the motor shaft<br />
#* In practice, all gears and other such mechanics have non-idelities such as play, torsion, and/or possibility of slipping.<br />
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise.<br />
#* Slipping encoder will give false data, which will cause the motor to either stall or run loose.<br />
#* Encoder resolution must be exact for each rotation. Rounded data will also cause the known magnetic angle to be lost, and the motor will stall or run loose after few turns.<br />
# Torque tuning must be done properly<br />
#* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation<br />
# Testing motor and encoder wiring in torque mode<br />
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality.<br />
#* Follow the instructions here: [[Servo motor torque mode test]]<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Essential_Basics&diff=6872Essential Basics2018-07-25T11:53:19Z<p>Esa: </p>
<hr />
<div>These basics are the most fundamental steps to get a motor running in order for an application to work properly.<br />
<br />
# Motor supply voltage (HV) can be higher than nominal motor voltage<br />
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct.<br />
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance.<br />
# The maximum current to the motor is not the maximum current of the PSU<br />
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current.<br />
#* E.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply.<br />
# Encoder <b>must</b> be attached directly to the motor shaft<br />
#* In practice, all gears and other similar mechanics have non-idelities such as play, torsion, and/or possibility of slipping.<br />
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise.<br />
#* Slipping encoder will cause false angle data, which will cause the motor to either stall or run loose.<br />
#* Encoder resolution must be exact for each rotation. Rounded data will also cause the magnetic angle to be lost, and the motor will stall or run loose after few turns.<br />
# Torque tuning must be done properly<br />
#* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation<br />
# Testing motor and encoder wiring in torque mode<br />
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality.<br />
#* Follow the instructions here: [[Servo motor torque mode test]]<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Essential_Basics&diff=6871Essential Basics2018-07-25T11:52:28Z<p>Esa: </p>
<hr />
<div>These basics are the most fundamental steps to get a motor running in order for an application to work properly. This page is intended as a checklist for people new to this kind of technology.<br />
<br />
# Motor supply voltage (HV) can be higher than nominal motor voltage<br />
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct.<br />
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance.<br />
# The maximum current to the motor is not the maximum current of the PSU<br />
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current.<br />
#* E.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply.<br />
# Encoder <b>must</b> be attached directly to the motor shaft<br />
#* In practice, all gears and other similar mechanics have non-idelities such as play, torsion, and/or possibility of slipping.<br />
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise.<br />
#* Slipping encoder will cause false angle data, which will cause the motor to either stall or run loose.<br />
#* Encoder resolution must be exact for each rotation. Rounded data will also cause the magnetic angle to be lost, and the motor will stall or run loose after few turns.<br />
# Torque tuning must be done properly<br />
#* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation<br />
# Testing motor and encoder wiring in torque mode<br />
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality.<br />
#* Follow the instructions here: [[Servo motor torque mode test]]<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Essential_Basics&diff=6870Essential Basics2018-07-25T11:52:02Z<p>Esa: Created page with "= Essential Basics = These basics are the most fundamental steps to get a motor running in order for an application to work properly. This page is intended as a checklist for..."</p>
<hr />
<div>= Essential Basics = <br />
These basics are the most fundamental steps to get a motor running in order for an application to work properly. This page is intended as a checklist for people new to this kind of technology.<br />
<br />
# Motor supply voltage (HV) can be higher than nominal motor voltage<br />
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct.<br />
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance.<br />
# The maximum current to the motor is not the maximum current of the PSU<br />
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current.<br />
#* E.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply.<br />
# Encoder <b>must</b> be attached directly to the motor shaft<br />
#* In practice, all gears and other similar mechanics have non-idelities such as play, torsion, and/or possibility of slipping.<br />
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise.<br />
#* Slipping encoder will cause false angle data, which will cause the motor to either stall or run loose.<br />
#* Encoder resolution must be exact for each rotation. Rounded data will also cause the magnetic angle to be lost, and the motor will stall or run loose after few turns.<br />
# Torque tuning must be done properly<br />
#* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation<br />
# Testing motor and encoder wiring in torque mode<br />
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality.<br />
#* Follow the instructions here: [[Servo motor torque mode test]]<br />
<br />
[[Category:Motor_drives]]<br />
[[Category:Setup_guides]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Granity_user_guide/Tuning&diff=6869Granity user guide/Tuning2018-07-25T10:54:09Z<p>Esa: /* Torque controller */</p>
<hr />
<div>{{SetGranityTabPageTitle|Tuning}}[[File:GranityTuning.png|thumb]]<br />
Tuning tab serves following purposes:<br />
* Adjust torque control bandwidth<br />
* Tune velocity controller gains<br />
* Tune position controller gains<br />
<br />
See also:<br />
*[[Servo motor tuning guide]] - procedures for finding optimal parameter values<br />
*[[Signal path of motor drive]] - an illustration of how drive processes various signals and parameters<br />
*[[Drive fault handling]]<br />
==Parameters==<br />
===Torque controller===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| TBW || Torque bandwidth limit || Sets the [http://en.wikipedia.org/wiki/Low-pass_filter low pass filter] frequency for torque controller [[setpoint signal]] || Limiting torque bandwidth to a certain level may have several advantages:<br />
*Improve tuning of velocity or position mode<br />
*Reduce motor audible noise <sup>1</sup><br />
*Smoothen motion<br />
Try various values to find the optimum for your system. Typically higher value allows setting higher velocity and position P gains giving more servo stiffness. Typically the optimum bandwidths are between 220-1500 Hz. <br />
<br />
If you wish to check torque controller step response in [[Granity user guide/Testing|testing tab]], then before testing set this value to maximum and also untick Goals/CIS.<br />
|}<br />
<br />
<sup>1</sup>) The best things to try are: reduce MR and ML parameter values and use TBW parameter value 100-680hz. I.e. Try reducing MR/ML by 50% or more. Reduction on these values affect directly the torque controller gains, and every time the values are halved, noise reduces 6dB but you’ll also lose some torque bandwidth. Luckily the full 3khz+ bandwidth is not necessary in most cases, so effect might be just reduction of noise. Setting TBW to 100-680 Hz activates software filtering of current sense signals thus it will also reduce the hiss.<br />
<br />
===Velocity controller gains===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| KVP || Velocity P gain || The proportional gain of velocity controller || rowspan=4|See [[Servo motor tuning guide]].<br />
|-<br />
| KVI || Velocity I gain || The integral gain of velocity controller <br />
|-<br />
| VFF || Velocity feed-forward gain || Velocity feed-forward gain <br />
|-<br />
| AFF || Acceleration feed-forward gain || Acceleration feed-forward gain <br />
|}<br />
<br />
===Position controller gains===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| KPP || Position P gain || The proportional gain of position controller || See [[Servo motor tuning guide]].<br />
|-<br />
| PFF || Position feed-forward gain || Sets feed foward gain from position setpoint to velocity setpoint || Adjust to minimize position response [[overshooting]].<br />
|-<br />
| AD || Anti-dither || Motor dithering/zero error hunting reduction function (in current firmware: no effect) || Useful in future firmware<br />
|}<br />
<br />
===Torque cogging & ripple compensation===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| TRF1 || Cogging compensation function || Selects the function of compensator || rowspan=4| See [[Configuring cogging torque compensation]]<br />
|-<br />
| TRA1 || Cogging compensation current|| Adjusts the amplitude of summed compensating torque command <br />
|-<br />
| TRF2 || Torque ripple compensation function || Selects the function of compensator <br />
|-<br />
| TRA2 || Torque ripple compensation amplitude || Adjust the modulation depth of compensator <br />
|-<br />
|}<br />
<br />
{{next|[[Granity user guide/Fault limits]]}}<br />
<br />
[[Category:Granity_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=Granity_user_guide/Tuning&diff=6867Granity user guide/Tuning2018-07-25T10:23:44Z<p>Esa: </p>
<hr />
<div>{{SetGranityTabPageTitle|Tuning}}[[File:GranityTuning.png|thumb]]<br />
Tuning tab serves following purposes:<br />
* Adjust torque control bandwidth<br />
* Tune velocity controller gains<br />
* Tune position controller gains<br />
<br />
See also:<br />
*[[Servo motor tuning guide]] - procedures for finding optimal parameter values<br />
*[[Signal path of motor drive]] - an illustration of how drive processes various signals and parameters<br />
*[[Drive fault handling]]<br />
==Parameters==<br />
===Torque controller===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| TBW || Torque bandwidth limit || Sets the [http://en.wikipedia.org/wiki/Low-pass_filter low pass filter] frequency for torque controller [[setpoint signal]] || Limiting torque bandwidth to a certain level may have several advantages:<br />
*Improve tuning of velocity or position mode<br />
*Reduce motor audible noise <sup>1</sup><br />
*Smoothen motion<br />
Try various values to find the optimum for your system. Typically higher value allows setting higher velocity and position P gains giving more servo stiffness. Typically the optimum bandwidths are between 220-1500 Hz. <br />
<br />
If you wish to check torque controller step response in [[Granity user guide/Testing|testing tab]], then before testing set this value to maximum and also untick Goals/CIS.<br />
|}<br />
<br />
1) The best things to try are: reduce MR and ML parameter values and use TBW parameter value 100-680hz. I.e. Try reducing MR/ML by 50% or more. Reduction on these values affect directly the torque controller gains, and every time the values are halved, noise reduces 6dB but you’ll also lose some torque bandwidth. Luckily the full 3khz+ bandwidth is not necessary in most cases, so effect might be just reduction of noise. Setting TBW to 100-680 Hz activates software filtering of current sense signals thus it will also reduce the hiss.<br />
<br />
===Velocity controller gains===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| KVP || Velocity P gain || The proportional gain of velocity controller || rowspan=4|See [[Servo motor tuning guide]].<br />
|-<br />
| KVI || Velocity I gain || The integral gain of velocity controller <br />
|-<br />
| VFF || Velocity feed-forward gain || Velocity feed-forward gain <br />
|-<br />
| AFF || Acceleration feed-forward gain || Acceleration feed-forward gain <br />
|}<br />
<br />
===Position controller gains===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| KPP || Position P gain || The proportional gain of position controller || See [[Servo motor tuning guide]].<br />
|-<br />
| PFF || Position feed-forward gain || Sets feed foward gain from position setpoint to velocity setpoint || Adjust to minimize position response [[overshooting]].<br />
|-<br />
| AD || Anti-dither || Motor dithering/zero error hunting reduction function (in current firmware: no effect) || Useful in future firmware<br />
|}<br />
<br />
===Torque cogging & ripple compensation===<br />
{| class="wikitable"<br />
|-<br />
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use<br />
|-<br />
| TRF1 || Cogging compensation function || Selects the function of compensator || rowspan=4| See [[Configuring cogging torque compensation]]<br />
|-<br />
| TRA1 || Cogging compensation current|| Adjusts the amplitude of summed compensating torque command <br />
|-<br />
| TRF2 || Torque ripple compensation function || Selects the function of compensator <br />
|-<br />
| TRA2 || Torque ripple compensation amplitude || Adjust the modulation depth of compensator <br />
|-<br />
|}<br />
<br />
{{next|[[Granity user guide/Fault limits]]}}<br />
<br />
[[Category:Granity_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=FTDI_Linux_USB_latency&diff=6866FTDI Linux USB latency2018-07-25T10:11:48Z<p>Esa: </p>
<hr />
<div>= FTDI Linux USB latency =<br />
By default, FTDI chip introduces 16 ms delay to reading from a USB port. In practice this means, that SimpleMotion update rate stays too low.<br />
<br />
Latest version of the SimpleMotion library tries to change this automatically. However, due to permissions etc. it might be required to do this manually.<br />
<br />
== USB latency setting ==<br />
<br />
Check "/sys/bus/usb-serial/devices/ttyUSB0/latency_timer" and change the value to 1.<br />
<br />
This can be done with e.g. the following terminal command with administrator permissions:<br />
: echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer<br />
<br />
{{Warning|Depending on the system, the USB latency might default back to 16 ms after system startup or device reconnection. }}<br />
<br />
[[Category:Argon_troubleshooting]]<br />
[[Category:Argon_wiring]]<br />
[[Category:IONI_troubleshooting]]<br />
[[Category:IONICUBE]]<br />
[[Category:Setup_guides]]<br />
[[Category:Signals]]<br />
[[Category:SimpleMotion]]<br />
[[Category:Technology]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=FTDI_Linux_USB_latency&diff=6865FTDI Linux USB latency2018-07-25T09:52:56Z<p>Esa: </p>
<hr />
<div>= FTDI Linux USB latency =<br />
By default, FTDI chip introduces 16 ms delay to reading from a USB port. In practice this means, that SimpleMotion update rate stays too low.<br />
<br />
Latest version of the SimpleMotion library tries to change this automatically. However, due to permissions etc. it might be required to do this manually.<br />
<br />
== USB latency setting ==<br />
<br />
Check "/sys/bus/usb-serial/devices/ttyUSB0/latency_timer" and change the value to 1.<br />
<br />
This can be done with e.g. the following terminal command with administrator permissions:<br />
: echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer<br />
<br />
{{Warning|Depending on the system, the USB latency might default back to 16 ms after system startup or device reconnection. }}</div>Esahttps://granitedevices.com/w/index.php?title=FTDI_Linux_USB_latency&diff=6864FTDI Linux USB latency2018-07-25T09:50:03Z<p>Esa: Created page with "= FTDI Linux USB latency = By default, FTDI chip introduces 16 ms delay to reading from a USB port. In practice this means, that SimpleMotion update rate stays too low. Lates..."</p>
<hr />
<div>= FTDI Linux USB latency =<br />
By default, FTDI chip introduces 16 ms delay to reading from a USB port. In practice this means, that SimpleMotion update rate stays too low.<br />
<br />
Latest version of the SimpleMotion library tries to change this automatically. However, due to permissions etc. it might be requires to do this manually.<br />
<br />
== USB latency setting ==<br />
<br />
Check "/sys/bus/usb-serial/devices/ttyUSB0/latency_timer" and change the value to 1.<br />
<br />
This can be done with e.g. the following terminal command with administrator permissions:<br />
: echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer<br />
<br />
{{Warning|Depending on the system, the USB latency might default back to 16 ms after system startup or device reconnection. }}</div>Esahttps://granitedevices.com/w/index.php?title=File:IONICUBE_schematics.pdf&diff=6863File:IONICUBE schematics.pdf2018-07-25T08:19:41Z<p>Esa: Esa uploaded a new version of File:IONICUBE schematics.pdf</p>
<hr />
<div>== Summary ==<br />
<br />
<br />
== Licensing ==<br />
{{CopyrightByGDAllRightsReserved}}<br />
[[category:Schematics]]</div>Esahttps://granitedevices.com/w/index.php?title=SimuCUBE_pinouts_and_wiring&diff=6823SimuCUBE pinouts and wiring2018-06-13T08:47:05Z<p>Esa: /* Internal connector pinouts */</p>
<hr />
<div>{{SimucubeManualNav}}<br />
==External connectors== <br />
[[File:Simucubeconnectors.jpg|800px|thumb|center|Overview of external SimuCUBE connectors.]]<br />
<br />
===Legend===<br />
{| class="wikitable"<br />
|-<br />
! Color<br />
|-<br />
| class="powpin" |Supply pin<br />
|-<br />
| class="inpin" |Input pin<br />
|-<br />
| class="outpin" |Output pin<br />
|}<br />
<br />
===X1 - Motor & E-stop connector===<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! Usage<br />
|-<br />
| 1 || class="outpin" | U / PH1|| Motor phase 1 / Servo U<br />
|-<br />
| 2 || class="outpin" | V / PH2|| Motor phase 2 / Servo V<br />
|-<br />
| 3 || class="outpin" | W / PH3|| Motor phase 3 / Servo W<br />
|-<br />
| 4 || class="outpin" | PH4|| Motor phase 4<br />
|-<br />
| 5|| class="powpin" |GND || Ground voltage (0 V) of the SimuCUBE, shield<br />
|-<br />
| 6|| class="inpin" |E-Stop / STO || External stop / Safe Torque Off input pin (active high)<br />
|-<br />
| 7|| class="powpin" |+5 V || 5 V supply voltage<br />
|}<br />
<br />
===X16 - Motor position sensor connector===<br />
A, B, and C indicate the quadrature encoder differential signals.<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin # !! Pin name !! Quadrature encoder !! SinCos encoder !! BiSS-C encoder<br />
|-<br />
| Shell|| class="powpin" |GND||Earth / 0 V ||Earth / 0 V || Earth / 0 V<br />
|-<br />
| 1|| class="inpin" |HALL_W||Hall sensor digital input W ||Hall sensor digital input W ||<br />
|-<br />
| 2|| class="inpin" |HALL_V||Hall sensor digital input V ||Hall sensor digital input V ||<br />
|-<br />
| 3|| class="inpin" |HALL_U||Hall sensor digital input U ||Hall sensor digital input U ||<br />
|-<br />
| 4|| class="powpin" |GND||Encoder supply ground / 0 V ||Encoder supply ground / 0 V || Encoder supply ground / 0 V<br />
|-<br />
| 5|| class="inpin" |B-||Encoder differential input B- ||SinCos input B-||<br />
|-<br />
| 6|| class="inpin" |B+||Encoder differential input B+ ||SinCos input B+||<br />
|-<br />
| 7|| class="inpin" |A-||Encoder differential input A- ||SinCos input A-||<br />
|-<br />
| 8|| class="inpin" |A+||Encoder differential input A+ ||SinCos input A+||<br />
|-<br />
| 9|| class="powpin" |5V_OUT||Encoder supply +5 V output || Encoder supply +5 V output|| Encoder supply +5 V output<br />
|-<br />
| 10|| class="powpin" |GND ||Encoder supply ground / 0 V || Encoder supply ground / 0 V|| Encoder supply ground / 0 V<br />
|-<br />
| 11|| class="inpin" |GPI3|| IONI GPI3 input || || Clock- / MA-<br />
|-<br />
| 12|| class="inpin" |GPI2|| IONI GPI2 input || || Clock+ / MA+<br />
|-<br />
| 13|| class="inpin" |GPI1|| IONI GPI1 input || ||<br />
|-<br />
| 14|| class="inpin" |C-||Encoder differential input C- (index channel) || Encoder differential input C- (index channel) || Data- / SLO-<br />
|-<br />
| 15|| class="inpin" | C+||Encoder differential input C+ (index channel) || Encoder differential input C+ (index channel) || Data+ / SLO+<br />
|}<br />
<br />
===X12-upper===<br />
Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor.<br><br />
Use with a RJ45 (8P8C) modular connector. Can be used with straight unshielded or shielded CAT3/5/5e cables (<b>don't</b> use crossover cables!)<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! STM32F407 pin !! Usage<br />
|-<br />
| 1 || class="inpin" | Button 1|| PC11|| Digital input for button<br />
|-<br />
| 2 || class="inpin" | Button 2|| PC6|| Digital input for button<br />
|-<br />
| 3 || class="inpin" | Button 3|| PC7|| Digital input for button<br />
|-<br />
| 4 || class="inpin" | Button 4|| PC8|| Digital input for button<br />
|-<br />
| 5 || class="inpin" | Button 5|| PC9|| Digital input for button<br />
|-<br />
| 6 || class="inpin" | Button 6|| PE5|| Digital input for button<br />
|-<br />
| 7 || class="inpin" | Button 7|| PC10|| Digital input for button<br />
|-<br />
| 8 || class="powpin" | GND / 0 V|| || Ground<br />
|}<br />
<br />
===X12-lower===<br />
Pin 1 is the left-most. These are active-low with an internal 3.3 kOhm pull-up resistor.<br><br />
Use with a RJ45 (8P8C) modular connector. Can be used with straight unshielded or shielded CAT3/5/5e cables (<b>don't</b> use crossover cables!)<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! STM32F407 pin !! Usage<br />
|-<br />
| 1 || class="inpin" | Button 8|| PE2|| Digital input for button<br />
|-<br />
| 2 || class="inpin" | Button 9|| PE3|| Digital input for button<br />
|-<br />
| 3 || class="inpin" | Button 10|| PE1|| Digital input for button<br />
|-<br />
| 4 || class="inpin" | Button 11|| PE0|| Digital input for button<br />
|-<br />
| 5 || class="inpin" | Button 12|| PC12|| Digital input for button<br />
|-<br />
| 6 || class="inpin" | Button 13|| PC13|| Digital input for button<br />
|-<br />
| 7 || class="inpin" | Button 14|| PC14|| Digital input for button<br />
|-<br />
| 8 || class="powpin" | GND / 0 V|| || Ground<br />
|}<br />
<br />
===X11-upper===<br />
Pin 1 is the right-most.<br><br />
Use with a RJ45 (8P8C) modular connector. Can be used with straight unshielded or shielded CAT3/5/5e cables (<b>don't</b> use crossover cables!)<br />
Note: These analog inputs are 3.3 V tolerant. Do not connect 5 V signals.<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! STM32F407 pin !! Usage<br />
|-<br />
| 1 || class="inpin" | ADC12_IN9|| PB1|| ADC input for brake pedal<br />
|-<br />
| 2 || class="inpin" | ADC12_IN8|| PB0|| ADC input for throttle pedal<br />
|-<br />
| 3 || class="inpin" | ADC12_IN14|| PC5|| ADC input<br />
|-<br />
| 4 || class="powpin" | VCC_OUT|| ||+3.3 V supply<br />
|-<br />
| 5 || class="inpin" | ADC12_IN4|| PC4|| ADC input for clutch pedal<br />
|-<br />
| 6 || class="inpin" | ADC12_IN7|| PA7|| ADC input<br />
|-<br />
| 7 || class="inpin" | HX711_CLKOUT|| PE12|| Reserved for future use<br />
|-<br />
| 8 || class="powpin" | GND / 0 V|| || Ground<br />
|}<br />
<br />
===X11-lower===<br />
Pin 1 is the left-most.<br><br />
Use with a RJ45 (8P8C) modular connector. Can be used with straight unshielded or shielded CAT3/5/5e cables (<b>don't</b> use crossover cables!)<br />
Note: These analog inputs are 3.3 V tolerant. Do not connect 5 V signals.<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! STM32F407 pin !! Usage<br />
|-<br />
| 1 || class="inpin" | Button 15|| PC15|| Digital input for button<br />
|-<br />
| 2 || class="inpin" | ADC123_IN13|| PC3|| ADC input<br />
|-<br />
| 3 || class="inpin" | ADC123_IN3|| PA3|| ADC input<br />
|-<br />
| 4 || class="powpin" | VCC_OUT|| ||+3.3 V supply<br />
|-<br />
| 5 || class="inpin" | ADC12_IN4 / DAC1|| PA4|| ADC input (/ DAC output)<br />
|-<br />
| 6 || class="inpin" | ADC12_IN5 / DAC2|| PA5|| ADC input (/ DAC output)<br />
|-<br />
| 7 || class="inpin" | ADC12_IN6|| PA6|| ADC input<br />
|-<br />
| 8 || class="powpin" | GND / 0 V|| || Ground<br />
|}<br />
<br />
===USB Connectors===<br />
{| class="wikitable"<br />
|-<br />
! Connector !! Usage !! Notes<br />
|-<br />
| X3 || USB connector for the STM32F4 || <br />
|-<br />
| X4 || USB connector for the IONI || <br />
|}<br />
<br />
==Basic wiring scheme==<br />
[[File:Simucube basic wiring scheme.jpg|thumb|800px|center|SimuCUBE basic wiring scheme. Please see the motor position sensor table for the DB15 connector pinout.]]<br />
==RJ45 connector wiring examples==<br />
[[File:Simucube rj45 wiring example.jpg|thumb|800px|center|Example of how to wire buttons and analog signals to SimuCUBE.]]<br />
[[File:Rj45 terminal block.jpg|thumb|800px|center|Easiest way to wire the rj45 connectors are through a terminal block adapter such as this. Items like this can be obtained for example from eBay (try [http://www.ebay.com/sch/i.html?_odkw=rj45+screw+terminal+adapter+female&_osacat=0&_from=R40&_trksid=p2045573.m570.l1313.TR0.TRC0.H0.TRS0&_nkw=rj45+screw+terminal+adapter+female&_sacat=0 this search]).]]<br />
<br />
==Internal connector pinouts==<br />
{{damage|EXT-LEDS connector is directly wired to microcontroller I/O pins without any protection devices (such as ESD clamp diodes, or resistors). Any miswiring may cause permanent damage to the drive.}}<br />
{{info|Damage caused through EXT-LEDS connector is not covered by the [[Product warranty terms|warranty]].}}<br />
[[File:Simucube internal connectors.jpg|thumb|800px|center|SimuCUBE 1r004 internal connectors.]]<br />
<br />
==External resistor connection==<br />
For SimuCUBE Hardware Revision 2 (1r005 printed on the PCB), it is possible to use an external regenerative braking resistor. Suitable external resistor should have resistance of 2.5 Ohm and rated power of at least 25 Watts. We recommend 50 Watts.<br />
<br />
Please note, that if, for whatever reason, the internal resistor on the SimuCUBE has cracked, the steps listed [[SimuCUBE troubleshooting]] should be performed to analyze the health of the MOSFET transistor.<br />
<br />
On SimuCUBE 1r005, the pinout of the external resistor connection has changed compared to the above image. Please refer to the markings on the SimuCUBE board.<br />
{| class="wikitable"<br />
|-<br />
! Internal/External resistor in use !! Pins connected in the screw terminal !! Default from factory <br />
|-<br />
| Internal || '''Resistor Input''' and '''Internal Resistor''' connected via a jumper block || Default<br />
|-<br />
| External || Remove jumper and connect external resistor between '''Resistor Input''' and '''HV BUS Output''' || <br />
|}<br />
<br />
[[Category:SimuCUBE]]</div>Esahttps://granitedevices.com/w/index.php?title=SimuCUBE_pinouts_and_wiring&diff=6822SimuCUBE pinouts and wiring2018-06-13T08:46:43Z<p>Esa: /* Internal connector pinouts */</p>
<hr />
<div>{{SimucubeManualNav}}<br />
==External connectors== <br />
[[File:Simucubeconnectors.jpg|800px|thumb|center|Overview of external SimuCUBE connectors.]]<br />
<br />
===Legend===<br />
{| class="wikitable"<br />
|-<br />
! Color<br />
|-<br />
| class="powpin" |Supply pin<br />
|-<br />
| class="inpin" |Input pin<br />
|-<br />
| class="outpin" |Output pin<br />
|}<br />
<br />
===X1 - Motor & E-stop connector===<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! Usage<br />
|-<br />
| 1 || class="outpin" | U / PH1|| Motor phase 1 / Servo U<br />
|-<br />
| 2 || class="outpin" | V / PH2|| Motor phase 2 / Servo V<br />
|-<br />
| 3 || class="outpin" | W / PH3|| Motor phase 3 / Servo W<br />
|-<br />
| 4 || class="outpin" | PH4|| Motor phase 4<br />
|-<br />
| 5|| class="powpin" |GND || Ground voltage (0 V) of the SimuCUBE, shield<br />
|-<br />
| 6|| class="inpin" |E-Stop / STO || External stop / Safe Torque Off input pin (active high)<br />
|-<br />
| 7|| class="powpin" |+5 V || 5 V supply voltage<br />
|}<br />
<br />
===X16 - Motor position sensor connector===<br />
A, B, and C indicate the quadrature encoder differential signals.<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin # !! Pin name !! Quadrature encoder !! SinCos encoder !! BiSS-C encoder<br />
|-<br />
| Shell|| class="powpin" |GND||Earth / 0 V ||Earth / 0 V || Earth / 0 V<br />
|-<br />
| 1|| class="inpin" |HALL_W||Hall sensor digital input W ||Hall sensor digital input W ||<br />
|-<br />
| 2|| class="inpin" |HALL_V||Hall sensor digital input V ||Hall sensor digital input V ||<br />
|-<br />
| 3|| class="inpin" |HALL_U||Hall sensor digital input U ||Hall sensor digital input U ||<br />
|-<br />
| 4|| class="powpin" |GND||Encoder supply ground / 0 V ||Encoder supply ground / 0 V || Encoder supply ground / 0 V<br />
|-<br />
| 5|| class="inpin" |B-||Encoder differential input B- ||SinCos input B-||<br />
|-<br />
| 6|| class="inpin" |B+||Encoder differential input B+ ||SinCos input B+||<br />
|-<br />
| 7|| class="inpin" |A-||Encoder differential input A- ||SinCos input A-||<br />
|-<br />
| 8|| class="inpin" |A+||Encoder differential input A+ ||SinCos input A+||<br />
|-<br />
| 9|| class="powpin" |5V_OUT||Encoder supply +5 V output || Encoder supply +5 V output|| Encoder supply +5 V output<br />
|-<br />
| 10|| class="powpin" |GND ||Encoder supply ground / 0 V || Encoder supply ground / 0 V|| Encoder supply ground / 0 V<br />
|-<br />
| 11|| class="inpin" |GPI3|| IONI GPI3 input || || Clock- / MA-<br />
|-<br />
| 12|| class="inpin" |GPI2|| IONI GPI2 input || || Clock+ / MA+<br />
|-<br />
| 13|| class="inpin" |GPI1|| IONI GPI1 input || ||<br />
|-<br />
| 14|| class="inpin" |C-||Encoder differential input C- (index channel) || Encoder differential input C- (index channel) || Data- / SLO-<br />
|-<br />
| 15|| class="inpin" | C+||Encoder differential input C+ (index channel) || Encoder differential input C+ (index channel) || Data+ / SLO+<br />
|}<br />
<br />
===X12-upper===<br />
Pin 1 is the right-most. These are active-low with an internal 3.3 kOhm pull-up resistor.<br><br />
Use with a RJ45 (8P8C) modular connector. Can be used with straight unshielded or shielded CAT3/5/5e cables (<b>don't</b> use crossover cables!)<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! STM32F407 pin !! Usage<br />
|-<br />
| 1 || class="inpin" | Button 1|| PC11|| Digital input for button<br />
|-<br />
| 2 || class="inpin" | Button 2|| PC6|| Digital input for button<br />
|-<br />
| 3 || class="inpin" | Button 3|| PC7|| Digital input for button<br />
|-<br />
| 4 || class="inpin" | Button 4|| PC8|| Digital input for button<br />
|-<br />
| 5 || class="inpin" | Button 5|| PC9|| Digital input for button<br />
|-<br />
| 6 || class="inpin" | Button 6|| PE5|| Digital input for button<br />
|-<br />
| 7 || class="inpin" | Button 7|| PC10|| Digital input for button<br />
|-<br />
| 8 || class="powpin" | GND / 0 V|| || Ground<br />
|}<br />
<br />
===X12-lower===<br />
Pin 1 is the left-most. These are active-low with an internal 3.3 kOhm pull-up resistor.<br><br />
Use with a RJ45 (8P8C) modular connector. Can be used with straight unshielded or shielded CAT3/5/5e cables (<b>don't</b> use crossover cables!)<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! STM32F407 pin !! Usage<br />
|-<br />
| 1 || class="inpin" | Button 8|| PE2|| Digital input for button<br />
|-<br />
| 2 || class="inpin" | Button 9|| PE3|| Digital input for button<br />
|-<br />
| 3 || class="inpin" | Button 10|| PE1|| Digital input for button<br />
|-<br />
| 4 || class="inpin" | Button 11|| PE0|| Digital input for button<br />
|-<br />
| 5 || class="inpin" | Button 12|| PC12|| Digital input for button<br />
|-<br />
| 6 || class="inpin" | Button 13|| PC13|| Digital input for button<br />
|-<br />
| 7 || class="inpin" | Button 14|| PC14|| Digital input for button<br />
|-<br />
| 8 || class="powpin" | GND / 0 V|| || Ground<br />
|}<br />
<br />
===X11-upper===<br />
Pin 1 is the right-most.<br><br />
Use with a RJ45 (8P8C) modular connector. Can be used with straight unshielded or shielded CAT3/5/5e cables (<b>don't</b> use crossover cables!)<br />
Note: These analog inputs are 3.3 V tolerant. Do not connect 5 V signals.<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! STM32F407 pin !! Usage<br />
|-<br />
| 1 || class="inpin" | ADC12_IN9|| PB1|| ADC input for brake pedal<br />
|-<br />
| 2 || class="inpin" | ADC12_IN8|| PB0|| ADC input for throttle pedal<br />
|-<br />
| 3 || class="inpin" | ADC12_IN14|| PC5|| ADC input<br />
|-<br />
| 4 || class="powpin" | VCC_OUT|| ||+3.3 V supply<br />
|-<br />
| 5 || class="inpin" | ADC12_IN4|| PC4|| ADC input for clutch pedal<br />
|-<br />
| 6 || class="inpin" | ADC12_IN7|| PA7|| ADC input<br />
|-<br />
| 7 || class="inpin" | HX711_CLKOUT|| PE12|| Reserved for future use<br />
|-<br />
| 8 || class="powpin" | GND / 0 V|| || Ground<br />
|}<br />
<br />
===X11-lower===<br />
Pin 1 is the left-most.<br><br />
Use with a RJ45 (8P8C) modular connector. Can be used with straight unshielded or shielded CAT3/5/5e cables (<b>don't</b> use crossover cables!)<br />
Note: These analog inputs are 3.3 V tolerant. Do not connect 5 V signals.<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! STM32F407 pin !! Usage<br />
|-<br />
| 1 || class="inpin" | Button 15|| PC15|| Digital input for button<br />
|-<br />
| 2 || class="inpin" | ADC123_IN13|| PC3|| ADC input<br />
|-<br />
| 3 || class="inpin" | ADC123_IN3|| PA3|| ADC input<br />
|-<br />
| 4 || class="powpin" | VCC_OUT|| ||+3.3 V supply<br />
|-<br />
| 5 || class="inpin" | ADC12_IN4 / DAC1|| PA4|| ADC input (/ DAC output)<br />
|-<br />
| 6 || class="inpin" | ADC12_IN5 / DAC2|| PA5|| ADC input (/ DAC output)<br />
|-<br />
| 7 || class="inpin" | ADC12_IN6|| PA6|| ADC input<br />
|-<br />
| 8 || class="powpin" | GND / 0 V|| || Ground<br />
|}<br />
<br />
===USB Connectors===<br />
{| class="wikitable"<br />
|-<br />
! Connector !! Usage !! Notes<br />
|-<br />
| X3 || USB connector for the STM32F4 || <br />
|-<br />
| X4 || USB connector for the IONI || <br />
|}<br />
<br />
==Basic wiring scheme==<br />
[[File:Simucube basic wiring scheme.jpg|thumb|800px|center|SimuCUBE basic wiring scheme. Please see the motor position sensor table for the DB15 connector pinout.]]<br />
==RJ45 connector wiring examples==<br />
[[File:Simucube rj45 wiring example.jpg|thumb|800px|center|Example of how to wire buttons and analog signals to SimuCUBE.]]<br />
[[File:Rj45 terminal block.jpg|thumb|800px|center|Easiest way to wire the rj45 connectors are through a terminal block adapter such as this. Items like this can be obtained for example from eBay (try [http://www.ebay.com/sch/i.html?_odkw=rj45+screw+terminal+adapter+female&_osacat=0&_from=R40&_trksid=p2045573.m570.l1313.TR0.TRC0.H0.TRS0&_nkw=rj45+screw+terminal+adapter+female&_sacat=0 this search]).]]<br />
<br />
==Internal connector pinouts==<br />
{{damage|EXT-LEDS connector is directly wired to microcontroller I/O pins without any protection devices (such as ESD clamp diodes, or resistors). Any miswiring may cause permanent damage to the drive.}}<br />
{{info|Damage caused through EXT-LEDS connector is not covered by the [[Product warranty terms|warranty]].}}<br />
[[File:Simucube 1r004 internal connectors.jpg|thumb|800px|center|SimuCUBE internal connectors.]]<br />
<br />
==External resistor connection==<br />
For SimuCUBE Hardware Revision 2 (1r005 printed on the PCB), it is possible to use an external regenerative braking resistor. Suitable external resistor should have resistance of 2.5 Ohm and rated power of at least 25 Watts. We recommend 50 Watts.<br />
<br />
Please note, that if, for whatever reason, the internal resistor on the SimuCUBE has cracked, the steps listed [[SimuCUBE troubleshooting]] should be performed to analyze the health of the MOSFET transistor.<br />
<br />
On SimuCUBE 1r005, the pinout of the external resistor connection has changed compared to the above image. Please refer to the markings on the SimuCUBE board.<br />
{| class="wikitable"<br />
|-<br />
! Internal/External resistor in use !! Pins connected in the screw terminal !! Default from factory <br />
|-<br />
| Internal || '''Resistor Input''' and '''Internal Resistor''' connected via a jumper block || Default<br />
|-<br />
| External || Remove jumper and connect external resistor between '''Resistor Input''' and '''HV BUS Output''' || <br />
|}<br />
<br />
[[Category:SimuCUBE]]</div>Esahttps://granitedevices.com/w/index.php?title=IONICUBE_1X_connectors_and_pinouts&diff=6814IONICUBE 1X connectors and pinouts2018-06-01T08:27:57Z<p>Esa: /* X3 pinout */</p>
<hr />
<div>==IONICUBE 1X connectors==<br />
;X1.1 and X1.2<br />
:RJ45 connector with [[SimpleMotion V2]] interface. For pinout, see[[SimpleMotion V2 port]]. <br />
;X2<br />
:[[feedback devices|feedback device]] connector for motor<br />
;X3<br />
:9 pin wire terminal for [[HV DC bus]] supply, logic voltage supply, regenerative resistor and motor power output.<br />
;X4<br />
:Control and [[setpoint]] signal port. Contains also output for motor solenoid holding brake.<br />
;X5<br />
:Card-edge connectors for IONI drive<br />
{{damage|Before inserting or removing IONI drives from IONICUBE, remove all power from it and discharge it's capacitors. To discharge remaining energy (~voltage) from capacitors, short circuit GND to HV+ by a conductor and measure that there is no DC voltage left between GND and HV+ terminals. Even few volts left to [[HV DC bus]] is known to cause permanent damage to IONICUBE when drives are plugged.}}<br />
<br />
==IONICUBE 1X connectors==<br />
{{picturebox|Ionicube1x pinouts.png|caption=Connector layout and naming}}<br />
<br /><br />
{{picturebox|Ionicube1x wiring.png|caption=Wiring overview. R is regenerative resistor and E is encoder. In minimum working connection, wire 5V voltage to ENABLE and STO2 inputs into X4 pins (these two signals allow drive to be operated). Note: STO2 accepts voltage from 4.5 to 25 VDC but other digital inputs, such as ENABLE only between 2.7 to 5.5VDC.}}<br />
{{info|If using switching power supply (SMPS) as motor power supply, external rectifier diodes are needed to protect the power supplies. See See [[IONI power supply schemes]].}}<br />
<br />
===Legend===<br />
{| class="wikitable"<br />
|-<br />
! Color<br />
|-<br />
| class="powpin" |Supply pin<br />
|-<br />
| class="inpin" |Input pin<br />
|-<br />
| class="outpin" |Output pin<br />
|}<br />
===X3 pinout===<br />
This is a wire terminal connector for power input and output<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! Usage<br />
|-<br />
| 1 || class="powpin" | GND|| Ground<br />
|-<br />
| 2|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] (see IONI drive voltage range spec)<br />
|-<br />
| 3|| class="powpin" |VCC || 24V logic supply<br />
|-<br />
| 4|| class="outpin" |PH1 (PHASE1) || Motor phase 1 (see wiring table below)<br />
|-<br />
| 5|| class="outpin" |PH2 (PHASE2) || Motor phase 2 (see wiring table below)<br />
|-<br />
| 6|| class="outpin" |PH3 (PHASE3) || Motor phase 3 (see wiring table below)<br />
|-<br />
| 7|| class="outpin" |PH4 (PHASE4) || Motor phase 4 (see wiring table below)<br />
|-<br />
| 8|| class="outpin" |REG || [[Regenerative resistor]] output<br />
|-<br />
| 9 || class="powpin" | GND|| Ground<br />
|}<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! AC/BLDC motor !! Brush DC motor !! Stepping motor<br />
|-<br />
| 1 || class="powpin" | GND|| colspan="3" | Ground for cable shield and an optional motor holding brake coil<br />
|-<br />
| 4|| class="outpin" |PHASE1 ||U (some motors R)||Armature +||Coil A.1<br />
|-<br />
| 5|| class="outpin" |PHASE2 ||V (some motors S)||Armature -||Coil A.2<br />
|-<br />
| 6|| class="outpin" |PHASE3 ||W (some motors T)||Armature -||Coil B.1<br />
|-<br />
| 7|| class="outpin" |PHASE4 || Not connected||Armature +||Coil B.2<br />
<br />
|}<br />
<br />
====Motor & brake wiring schematics====<br />
Note: the images below are drawn for [[IONICUBE]] 4 axis version. IONICUBE 1X wiring is equivalent except there is no brake output in the X3. Brake output pin is located in X4.<br />
<gallery widths="300px" heights="190px"><br />
File:Ionicube mot ac.png|Wiring of three phase AC servo motor. Brake is optional.<br />
File:Ionicube mot dc.png|Wiring of Brush-DC servo motor. Brake is optional.<br />
File:Ionicube mot step.png|Wiring of two phase stepping motor. Brake can be fitted like in the other examples. Also 6 and 8 wire motors can be wired (the two drive coils connect always to the same PHASE outputs).<br />
</gallery><br />
{{tip|An easy way to verify correctness of two phase '''stepper''' connection: unplug the 6 pin connector and then measure resistance between phases 1-2 and 3-4. Multimeter should show the same resistance for both cases (typically 0.1 - 5 ohms). Also when measuring between phases 1-3, 1-4, 2-3 and 2-4, the multimeter should indicate open circuit.}}<br />
<br />
====Regenerative resistor====<br />
[[Regenerative resistor]] is optional and may be connected between REG and HV+ terminals. The on board transistor is capable of carrying max 10 Amp current on regenerative resistor, so ''minimum'' allowed resistance can be calculated from: R<sub>min</sub>=HV<sub>voltage</sub>/10. I.e. with 48VDC HV supply, the minimum resistance is 48V/10A = 4.8 Ohms. Suggested resistor power capability is 20-100 W.<br />
{{tip|When multiple IONICUBE 1X's are connected to a shared HV supply, then it is typically sufficient to have regenerative resistor only in one IONICUBE 1X as it will help to prevent voltage build-up in the HV supply line.}}<br />
<br />
===X2 pinout===<br />
X2 is the [[feedback devices|feedback device]] connector of motor<br />
{{EncoderPinoutD15}}<br />
{{info|Especially with long encoder cables, it might be necessary to add encoder line termination resistors, see [[Terminating differential encoder lines]].}}<br />
====Examples of feedback device and switch wiring====<br />
<gallery widths="180px" heights="180px"><br />
File:Encoderwiring full.png|Fully wired port with differential incremental encoder, hall sensors and switches<br />
File:Encoderwiring diff.png|Wiring of differential incremental encoder<br />
File:Encoderwiring min.png|Minimal wiring of incremental encoder (single ended, no index channel)<br />
File:Encoderwiring hall.png|Wiring of Hall sensors only (only torque mode possible)<br />
File:Encoderwiring swonly.png|Illustration of wiring limit and home switches. In addition to this, encoder and/or halls are needed.<br />
</gallery><br />
<br />
<br />
{{info|In case of single-ended encoder, connect encoder's A, B, Z only to drive's A+, B+ and C+ and leave drive's A-, B- and C- unconnected.}}<br />
{{info|With differential Hall sensor (which provides U+, U-, V+, V-, W+ and W-, connect only sensor's U+, V+ and W+ to drive's HALL_U/V/W. }}<br />
{{info|Never connect sensor negative outputs (A-/B-/C-/U-/V-/W-) to GND. Connect them to drive's A-/B-/C- or leave unconnected.}}<br />
{{tip|Feedback devices with [[differential signaling]] may use varying naming schemes of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and {{overline|X}}. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.}}<br />
<br />
===X4 pinout===<br />
{{warning|This section is unfinished. Don't use until this notice is removed.}}<br />
<br />
X4 is main control and [[setpoint]] signal port consisting Enable input signal, Fault output signal, [[pulse and direction]]/[[quadrature]]/[[PWM]] setpoint inputs and digital outputs for home switch status. X4 is directly wired to conform most common parallel port style pulse & direction CNC controllers.<br />
<br />
{| class="wikitable"<br />
! Pin number in header!!Signal name!!Typical usage<br />
| class="tableseparator" rowspan="14" |<br />
!Signal name!!Typical usage<br />
|-<br />
| 1|| class="powpin" |GND||Ground||2|| class="powpin" |5V_OUT||5V output for optional external circuity<br />
|-<br />
| 3|| class="inpin" |HSIN2||Depending on [[setpoint]] mode, can be either: <br />
*Direction signal of pulse train (in [[Pulse and direction]] setpoint mode)<br />
*Quadrature B channel (in [[quadrature]] setpoint mode)<br />
*PWM (in PWM and [[PWM]]+Dir setpoint modes) <br />
||4|| class="inpin" |HSIN1|| Depending on [[setpoint]] mode, can be either: <br />
*Step pulse train (in [[Pulse and direction]] setpoint mode)<br />
*Quadrature A channel (in [[quadrature]] setpoint mode)<br />
*PWM input direction (in [[PWM]]+Dir setpoint mode) <br />
|-<br />
| 5|| class="inpin" |ANAIN+||+/-10V [[analog setpoint]] input<sup>2</sup>||6|| class="inpin" |ANAIN-||+/-10V [[analog setpoint]] input<sup>2</sup><br />
|-<br />
| 7|| class="inpin" |GPI2||Enable positive feed (also in X2)<sup>1</sup>||8|| class="inpin" |GPI1||Home switch input (also in X2)<sup>1</sup><br />
|-<br />
| 9|| class="inpin" |GPI4||Clear faults<sup>1</sup>||10|| class="inpin" |GPI3||Enable negative feed (also in X2)<sup>1</sup><br />
|-<br />
| 11|| class="outpin" |REGEN_OUT||[[Regenerative resistor]] power switch state (redundant, IONICUBE 1X has internal power switch) ||12|| class="inpin" |GPI5||Start homing<sup>1</sup><br />
|-<br />
| 13|| class="outpin" |MECH_BRAKE_OUT||Mechanical holding brake output<sup>3</sup>||14|| class="outpin" |GPO5||Reserved for future use<sup>1</sup><br />
|-<br />
| 15|| class="outpin" |GPO4||Limit switch output||16|| class="outpin" |GPO3||Fault on any axis or E-stop (active low)<sup>1</sup><br />
|-<br />
| 17|| class="outpin" |GPO2||Tracking error warning<sup>1</sup>||18|| class="outpin" |GPO1||Servo ready<sup>1</sup><br />
|-<br />
| 19|| class="inpin" |STO2||Safe torque off input (this pin also present in X1<sup>4</sup>) ||20|| class="inpin" |ENABLE||Enable drive (with or without [[Charge pump enable input|chargepump]]) (this pin also present in X1<sup>4</sup>)<br />
|}<br />
1) For detailed pin function and alternative functions in various modes, refer to [[IONI connector pinout]]<br />
<br />
2) Setpoint voltage is measured from the difference of voltage potentials between ANAIN+ and ANAIN-. Both ANAIN inputs must always lie within +/-12V from GND (meaning that [[controller]]'s zero voltage reference, i.e. GND must be connected to the GND if drive to prevent voltage potentials from floating.<br />
<br />
3) This output can directly drive a 24V solenoid brake (max 500mA) if VCC is supplied by 24 volts. In such case, connect brake wires between MECH_BRAKE_OUT and VCC.<br />
<br />
4) The same pin is routed also to X1 connectors. Use only either ENABLE/STO2 pins of X4 ''or'' X1, not both. <br />
<br />
{{damage|Connect X4 directly only to 3.3V or 5V logic systems. For 24V logic, see chapter below.}}<br />
<br />
===X1 connector===<br />
X1 connectors are for [[SimpleMotion V2]] bus which is used for drive configuration with [[Granity]] software and control over a multidrop capable serial data link. For pinout, see [[SimpleMotion V2 port]].<br />
<br />
{{damage|Never connect an Ethernet to X1. While it uses similar connector and cabling, it is electrically incompatible with Ethernet. Devices may be permanently damaged by mixing Ethernet and SimpleMotion V2.}}<br />
{{damage|Do now wire SimpleMotion V2 ports with [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover RJ45 cables (see details)]. Always use straight/non-crossover patch cables. If unsure about what is the type of your RJ45 cable, don't use it.}}<br />
<br />
==DIP Switch S1 settings==<br />
On board switch S1 controls the SM bus termination. Set switch 1 to ON position if the IONICUBE 1X devie is the only device in a SM bus OR if it's the last device in device chain. All other cases, leave it OFF (in other words, if IONICUBE is chained to multiple SM bus devices and it's not the last device of the chain).<br />
==Using 24 Volt control signals==<br />
As many industrial environments use 24V signaling for logic, interfacing IONICUBE 1X has been designed to accept these voltages with help of external circuits: <br />
<br />
*The GPOx outputs are NPN open collector type the pulling pin to GND when output is logic 1. GPO can be loaded up to same voltage level with logic supply voltage.<br />
**If 24V logic accepts such NPN open collector output, wire directly<br />
**If push/pull type output is needed, wire a pull-up resistor (i.e. 2200 Ohm or higher) between GPOx and 24V voltage<br />
*Inputs are routed directly to IONI input pins that accept up to 5V directly. To extend the range, add a resistor divider network to reduce the voltage to accepted level. I.e. on each pin: <br />
**470 Ohm resistor from GPIx to GND, and<br />
**2200 Ohm GPIx to user 24V input signal<br />
**That two-resistor circuit will reduce 24V level logic 1 to an acceptable ~4.2V level, while logic 0 will be ~0V.<br />
<br />
==Dimensions and mounting==<br />
IONICUBE 1X can be mounted by screws to a base or with optional DIN rail clips to a standard DIN rail. <br />
<br />
To mount in DIN rail, obtain 2 pcs of Phoenix Contact part number 1201578. Such part is available from many distributors including {{digikey|277-2296-ND}}<br />
{{picturebox|Ionicube1x dims.png|caption=Dimensions and mounting hole locations}}.<br />
<br />
[[Category:IONI_user_guide]]<br />
[[Category:IONICUBE]]</div>Esahttps://granitedevices.com/w/index.php?title=IONICUBE_1X_connectors_and_pinouts&diff=6776IONICUBE 1X connectors and pinouts2018-04-23T10:59:07Z<p>Esa: /* X2 pinout */</p>
<hr />
<div>==IONICUBE 1X connectors==<br />
;X1.1 and X1.2<br />
:RJ45 connector with [[SimpleMotion V2]] interface. For pinout, see[[SimpleMotion V2 port]]. <br />
;X2<br />
:[[feedback devices|feedback device]] connector for motor<br />
;X3<br />
:9 pin wire terminal for [[HV DC bus]] supply, logic voltage supply, regenerative resistor and motor power output.<br />
;X4<br />
:Control and [[setpoint]] signal port. Contains also output for motor solenoid holding brake.<br />
;X5<br />
:Card-edge connectors for IONI drive<br />
{{damage|Before inserting or removing IONI drives from IONICUBE, remove all power from it and discharge it's capacitors. To discharge remaining energy (~voltage) from capacitors, short circuit GND to HV+ by a conductor and measure that there is no DC voltage left between GND and HV+ terminals. Even few volts left to [[HV DC bus]] is known to cause permanent damage to IONICUBE when drives are plugged.}}<br />
<br />
==IONICUBE 1X connectors==<br />
{{picturebox|Ionicube1x pinouts.png|caption=Connector layout and naming}}<br />
<br /><br />
{{picturebox|Ionicube1x wiring.png|caption=Wiring overview. R is regenerative resistor and E is encoder. In minimum working connection, wire 5V voltage to ENABLE and STO2 inputs into X4 pins (these two signals allow drive to be operated). Note: STO2 accepts voltage from 4.5 to 25 VDC but other digital inputs, such as ENABLE only between 2.7 to 5.5VDC.}}<br />
{{info|If using switching power supply (SMPS) as motor power supply, external rectifier diodes are needed to protect the power supplies. See See [[IONI power supply schemes]].}}<br />
<br />
===Legend===<br />
{| class="wikitable"<br />
|-<br />
! Color<br />
|-<br />
| class="powpin" |Supply pin<br />
|-<br />
| class="inpin" |Input pin<br />
|-<br />
| class="outpin" |Output pin<br />
|}<br />
===X3 pinout===<br />
This is a wire terminal connector for power input and output<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! Usage<br />
|-<br />
| 1 || class="powpin" | GND|| Ground<br />
|-<br />
| 2|| class="powpin" |HV+ || Motor power supply, [[HV DC bus]] (see IONI drive voltage range spec)<br />
|-<br />
| 3|| class="powpin" |VCC || 24V logic supply<br />
|-<br />
| 4|| class="outpin" |PH1 (PHASE1) || Motor phase 1 (see wiring table below)<br />
|-<br />
| 5|| class="outpin" |PH2 (PHASE2) || Motor phase 2 (see wiring table below)<br />
|-<br />
| 6|| class="outpin" |PH3 (PHASE3) || Motor phase 3 (see wiring table below)<br />
|-<br />
| 7|| class="outpin" |PH4 (PHASE4) || Motor phase 4 (see wiring table below)<br />
|-<br />
| 8|| class="outpin" |REG || [[Regenerative resistor]] output<br />
|-<br />
| 9 || class="powpin" | GND|| Ground<br />
|}<br />
<br />
{| class="wikitable"<br />
|-<br />
! Pin number !! Signal name !! AC/BLDC motor !! Brush DC motor !! Stepping motor<br />
|-<br />
| 1 || class="powpin" | GND|| colspan="3" | Ground for cable shield and an optional motor holding brake coil<br />
|-<br />
| 2|| class="outpin" |PHASE1 ||U (some motors R)||Armature +||Coil A.1<br />
|-<br />
| 3|| class="outpin" |PHASE2 ||V (some motors S)||Armature -||Coil A.2<br />
|-<br />
| 4|| class="outpin" |PHASE3 ||W (some motors T)||Armature -||Coil B.1<br />
|-<br />
| 5|| class="outpin" |PHASE4 || Not connected||Armature +||Coil B.2<br />
|-<br />
| 6|| class="outpin" |BRAKE || colspan="3" |Optional 24V motor holding brake coil<br />
|}<br />
<br />
====Motor & brake wiring schematics====<br />
Note: the images below are drawn for [[IONICUBE]] 4 axis version. IONICUBE 1X wiring is equivalent except there is no brake output in the X3. Brake output pin is located in X4.<br />
<gallery widths="300px" heights="190px"><br />
File:Ionicube mot ac.png|Wiring of three phase AC servo motor. Brake is optional.<br />
File:Ionicube mot dc.png|Wiring of Brush-DC servo motor. Brake is optional.<br />
File:Ionicube mot step.png|Wiring of two phase stepping motor. Brake can be fitted like in the other examples. Also 6 and 8 wire motors can be wired (the two drive coils connect always to the same PHASE outputs).<br />
</gallery><br />
{{tip|An easy way to verify correctness of two phase '''stepper''' connection: unplug the 6 pin connector and then measure resistance between phases 1-2 and 3-4. Multimeter should show the same resistance for both cases (typically 0.1 - 5 ohms). Also when measuring between phases 1-3, 1-4, 2-3 and 2-4, the multimeter should indicate open circuit.}}<br />
<br />
====Regenerative resistor====<br />
[[Regenerative resistor]] is optional and may be connected between REG and HV+ terminals. The on board transistor is capable of carrying max 10 Amp current on regenerative resistor, so ''minimum'' allowed resistance can be calculated from: R<sub>min</sub>=HV<sub>voltage</sub>/10. I.e. with 48VDC HV supply, the minimum resistance is 48V/10A = 4.8 Ohms. Suggested resistor power capability is 20-100 W.<br />
{{tip|When multiple IONICUBE 1X's are connected to a shared HV supply, then it is typically sufficient to have regenerative resistor only in one IONICUBE 1X as it will help to prevent voltage build-up in the HV supply line.}}<br />
<br />
===X2 pinout===<br />
X2 is the [[feedback devices|feedback device]] connector of motor<br />
{{EncoderPinoutD15}}<br />
{{info|Especially with long encoder cables, it might be necessary to add encoder line termination resistors, see [[Terminating differential encoder lines]].}}<br />
====Examples of feedback device and switch wiring====<br />
<gallery widths="180px" heights="180px"><br />
File:Encoderwiring full.png|Fully wired port with differential incremental encoder, hall sensors and switches<br />
File:Encoderwiring diff.png|Wiring of differential incremental encoder<br />
File:Encoderwiring min.png|Minimal wiring of incremental encoder (single ended, no index channel)<br />
File:Encoderwiring hall.png|Wiring of Hall sensors only (only torque mode possible)<br />
File:Encoderwiring swonly.png|Illustration of wiring limit and home switches. In addition to this, encoder and/or halls are needed.<br />
</gallery><br />
<br />
<br />
{{info|In case of single-ended encoder, connect encoder's A, B, Z only to drive's A+, B+ and C+ and leave drive's A-, B- and C- unconnected.}}<br />
{{info|With differential Hall sensor (which provides U+, U-, V+, V-, W+ and W-, connect only sensor's U+, V+ and W+ to drive's HALL_U/V/W. }}<br />
{{info|Never connect sensor negative outputs (A-/B-/C-/U-/V-/W-) to GND. Connect them to drive's A-/B-/C- or leave unconnected.}}<br />
{{tip|Feedback devices with [[differential signaling]] may use varying naming schemes of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and {{overline|X}}. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.}}<br />
<br />
===X4 pinout===<br />
{{warning|This section is unfinished. Don't use until this notice is removed.}}<br />
<br />
X4 is main control and [[setpoint]] signal port consisting Enable input signal, Fault output signal, [[pulse and direction]]/[[quadrature]]/[[PWM]] setpoint inputs and digital outputs for home switch status. X4 is directly wired to conform most common parallel port style pulse & direction CNC controllers.<br />
<br />
{| class="wikitable"<br />
! Pin number in header!!Signal name!!Typical usage<br />
| class="tableseparator" rowspan="14" |<br />
!Signal name!!Typical usage<br />
|-<br />
| 1|| class="powpin" |GND||Ground||2|| class="powpin" |5V_OUT||5V output for optional external circuity<br />
|-<br />
| 3|| class="inpin" |HSIN2||Depending on [[setpoint]] mode, can be either: <br />
*Direction signal of pulse train (in [[Pulse and direction]] setpoint mode)<br />
*Quadrature B channel (in [[quadrature]] setpoint mode)<br />
*PWM (in PWM and [[PWM]]+Dir setpoint modes) <br />
||4|| class="inpin" |HSIN1|| Depending on [[setpoint]] mode, can be either: <br />
*Step pulse train (in [[Pulse and direction]] setpoint mode)<br />
*Quadrature A channel (in [[quadrature]] setpoint mode)<br />
*PWM input direction (in [[PWM]]+Dir setpoint mode) <br />
|-<br />
| 5|| class="inpin" |ANAIN+||+/-10V [[analog setpoint]] input<sup>2</sup>||6|| class="inpin" |ANAIN-||+/-10V [[analog setpoint]] input<sup>2</sup><br />
|-<br />
| 7|| class="inpin" |GPI2||Enable positive feed (also in X2)<sup>1</sup>||8|| class="inpin" |GPI1||Home switch input (also in X2)<sup>1</sup><br />
|-<br />
| 9|| class="inpin" |GPI4||Clear faults<sup>1</sup>||10|| class="inpin" |GPI3||Enable negative feed (also in X2)<sup>1</sup><br />
|-<br />
| 11|| class="outpin" |REGEN_OUT||[[Regenerative resistor]] power switch state (redundant, IONICUBE 1X has internal power switch) ||12|| class="inpin" |GPI5||Start homing<sup>1</sup><br />
|-<br />
| 13|| class="outpin" |MECH_BRAKE_OUT||Mechanical holding brake output<sup>3</sup>||14|| class="outpin" |GPO5||Reserved for future use<sup>1</sup><br />
|-<br />
| 15|| class="outpin" |GPO4||Limit switch output||16|| class="outpin" |GPO3||Fault on any axis or E-stop (active low)<sup>1</sup><br />
|-<br />
| 17|| class="outpin" |GPO2||Tracking error warning<sup>1</sup>||18|| class="outpin" |GPO1||Servo ready<sup>1</sup><br />
|-<br />
| 19|| class="inpin" |STO2||Safe torque off input (this pin also present in X1<sup>4</sup>) ||20|| class="inpin" |ENABLE||Enable drive (with or without [[Charge pump enable input|chargepump]]) (this pin also present in X1<sup>4</sup>)<br />
|}<br />
1) For detailed pin function and alternative functions in various modes, refer to [[IONI connector pinout]]<br />
<br />
2) Setpoint voltage is measured from the difference of voltage potentials between ANAIN+ and ANAIN-. Both ANAIN inputs must always lie within +/-12V from GND (meaning that [[controller]]'s zero voltage reference, i.e. GND must be connected to the GND if drive to prevent voltage potentials from floating.<br />
<br />
3) This output can directly drive a 24V solenoid brake (max 500mA) if VCC is supplied by 24 volts. In such case, connect brake wires between MECH_BRAKE_OUT and VCC.<br />
<br />
4) The same pin is routed also to X1 connectors. Use only either ENABLE/STO2 pins of X4 ''or'' X1, not both. <br />
<br />
{{damage|Connect X4 directly only to 3.3V or 5V logic systems. For 24V logic, see chapter below.}}<br />
<br />
===X1 connector===<br />
X1 connectors are for [[SimpleMotion V2]] bus which is used for drive configuration with [[Granity]] software and control over a multidrop capable serial data link. For pinout, see [[SimpleMotion V2 port]].<br />
<br />
{{damage|Never connect an Ethernet to X1. While it uses similar connector and cabling, it is electrically incompatible with Ethernet. Devices may be permanently damaged by mixing Ethernet and SimpleMotion V2.}}<br />
{{damage|Do now wire SimpleMotion V2 ports with [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover RJ45 cables (see details)]. Always use straight/non-crossover patch cables. If unsure about what is the type of your RJ45 cable, don't use it.}}<br />
<br />
==DIP Switch S1 settings==<br />
On board switch S1 controls the SM bus termination. Set switch 1 to ON position if the IONICUBE 1X devie is the only device in a SM bus OR if it's the last device in device chain. All other cases, leave it OFF (in other words, if IONICUBE is chained to multiple SM bus devices and it's not the last device of the chain).<br />
==Using 24 Volt control signals==<br />
As many industrial environments use 24V signaling for logic, interfacing IONICUBE 1X has been designed to accept these voltages with help of external circuits: <br />
<br />
*The GPOx outputs are NPN open collector type the pulling pin to GND when output is logic 1. GPO can be loaded up to same voltage level with logic supply voltage.<br />
**If 24V logic accepts such NPN open collector output, wire directly<br />
**If push/pull type output is needed, wire a pull-up resistor (i.e. 2200 Ohm or higher) between GPOx and 24V voltage<br />
*Inputs are routed directly to IONI input pins that accept up to 5V directly. To extend the range, add a resistor divider network to reduce the voltage to accepted level. I.e. on each pin: <br />
**470 Ohm resistor from GPIx to GND, and<br />
**2200 Ohm GPIx to user 24V input signal<br />
**That two-resistor circuit will reduce 24V level logic 1 to an acceptable ~4.2V level, while logic 0 will be ~0V.<br />
<br />
==Dimensions and mounting==<br />
IONICUBE 1X can be mounted by screws to a base or with optional DIN rail clips to a standard DIN rail. <br />
<br />
To mount in DIN rail, obtain 2 pcs of Phoenix Contact part number 1201578. Such part is available from many distributors including {{digikey|277-2296-ND}}<br />
{{picturebox|Ionicube1x dims.png|caption=Dimensions and mounting hole locations}}.<br />
<br />
[[Category:IONI_user_guide]]<br />
[[Category:IONICUBE]]</div>Esahttps://granitedevices.com/w/index.php?title=Template:EncoderPinoutD15&diff=6775Template:EncoderPinoutD152018-04-23T10:56:12Z<p>Esa: </p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
! Pin # !! Pin name !! Electrical type (in most feedback device modes) ||Quadrature encoder|| SinCos encoder || BiSS-C encoder || SSI encoder || AMS SSI encoder<br />
|-<br />
| Shell|| class="powpin" |GND|| colspan="6" |Earth/case<br />
|-<br />
| 1|| class="inpin" |HALL_W|| colspan="3" |Hall sensor digital input, phase W || - || - || -<br />
|-<br />
| 2|| class="inpin" |HALL_V|| colspan="3" |Hall sensor digital input, phase V || - || - || -<br />
|-<br />
| 3|| class="inpin" |HALL_U|| colspan="3" |Hall sensor digital input, phase U || - || - || -<br />
|-<br />
| 4|| class="powpin" |GND|| colspan="6" |Encoder supply ground <br />
|-<br />
| 5|| class="inpin" |B-||Differential input B-|| Channel B- || SinCos input B- || - || - || -<br />
|-<br />
| 6|| class="inpin" |B+||Differential input B+ || Channel B+ || SinCos input B+ || - || - || -<br />
|-<br />
| 7|| class="inpin" |A-||Differential input A- || Channel A- || SinCos input A- || - || - || -<br />
|-<br />
| 8|| class="inpin" |A+||Differential input A+ || Channel A+ || SinCos input A+ || - || - || -<br />
|-<br />
| 9|| class="powpin" |5V_OUT|| colspan="6" | Encoder supply 5V output <br />
|-<br />
| 10|| class="powpin" |GND || colspan="6" | Encoder supply ground <br />
|-<br />
| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || Clock/MA- || Clock- || CLK<br />
|-<br />
| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || Clock/MA+ || Clock+ || CSn<br />
|-<br />
| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || DO<br />
|-<br />
| 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -<br />
|-<br />
| 15|| class="inpin" | C+|| Differential input C+ || Index channel Z+ || Index channel Z+ || Data/SLO+ || Data+ || -<br />
|-<br />
| Pin layout || colspan = 7 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.<br />
<br />
[[File:d15_pinout.png|frameless|500x500px]]<br />
|}</div>Esahttps://granitedevices.com/w/index.php?title=Template:EncoderPinoutD15&diff=6773Template:EncoderPinoutD152018-04-23T10:53:55Z<p>Esa: </p>
<hr />
<div>{| class="wikitable"<br />
|-<br />
! Pin # !! Pin name !! Electrical type (in most feedback device modes) ||Quadrature encoder|| SinCos encoder || BiSS-C encoder || SSI encoder || AMS SSI encoder<br />
|-<br />
| Shell|| class="powpin" |GND|| colspan="6" |Earth/case<br />
|-<br />
| 1|| class="inpin" |HALL_W|| colspan="3" |Hall sensor digital input, phase W || - || - || -<br />
|-<br />
| 2|| class="inpin" |HALL_V|| colspan="3" |Hall sensor digital input, phase V || - || - || -<br />
|-<br />
| 3|| class="inpin" |HALL_U|| colspan="3" |Hall sensor digital input, phase U || - || - || -<br />
|-<br />
| 4|| class="powpin" |GND|| colspan="6" |Encoder supply ground <br />
|-<br />
| 5|| class="inpin" |B-||Differential input B-|| Channel B- || SinCos input B- || - || - || -<br />
|-<br />
| 6|| class="inpin" |B+||Differential input B+ || Channel B+ || SinCos input B+ || - || - || -<br />
|-<br />
| 7|| class="inpin" |A-||Differential input A- || Channel A- || SinCos input A- || - || - || -<br />
|-<br />
| 8|| class="inpin" |A+||Differential input A+ || Channel A+ || SinCos input A+ || - || - || -<br />
|-<br />
| 9|| class="powpin" |5V_OUT|| colspan="6" | Encoder supply 5V output <br />
|-<br />
| 10|| class="powpin" |GND || colspan="6" | Encoder supply ground <br />
|-<br />
| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || Clock/MA- || Clock- || CLK<br />
|-<br />
| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || Clock/MA+ || Clock+ || CSn<br />
|-<br />
| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || DO<br />
|-<br />
| 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -<br />
|-<br />
| 15|| class="inpin" | C+|| Differential input C+ || Index channel Z+ || Index channel Z+ || Data/SLO+ || Data+ || -<br />
|-<br />
| Pin layout || colspan=4 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.<br />
<br />
[[File:d15_pinout.png|frameless|500x500px]]<br />
|}</div>Esahttps://granitedevices.com/w/index.php?title=Argon_user_guide/J1_connector_wiring&diff=6772Argon user guide/J1 connector wiring2018-04-23T10:19:09Z<p>Esa: </p>
<hr />
<div>{{SetAUGTitle|J1 connector wiring}}{{ArgonManualNav}}This page lists most common wiring schemes to Argon feedback device ports. See also the main article [[Argon user guide/Wiring]].<br />
{{Damage|The naming conventions of feedback device wires and signals vary between different manufacturers. The most important things to ensure are:<br> - proper ground and supply wiring<br> - sensor voltage levels are compatible }}<br />
<br />
==Pin-out==<br />
J1 connector type is 15 pin female D-Sub and should be mated with 15 pin male D-Sub counterpart. Many of the J1 pins have dual functions. The operating mode of pin is determined by feedback device mode selected from [[Granity]]. <br />
<br />
[[File:J1closeup.png|500px]] <br />
{| class="wikitable"<br />
|-<br />
! Pin # !! Pin name !! Electrical type (in most feedback device modes) || Alternate electrical type (in some feedback device modes) || Connection with various feedback devices<br />
|-<br />
| Shell||PE|| colspan=2 |Earth/case || Feedback cable shield <br />
|-<br />
| 1||HALL_W|| colspan=2 |Digital input W || Hall sensor input, phase W <br />
|-<br />
| 2||HALL_V|| colspan=2 |Digital input V ||Hall sensor input, phase V<br />
|-<br />
| 3||HALL_U|| colspan=2 |Digital input U || Hall sensor input, phase U <br />
|-<br />
| 4||E+||Differential input E+|| Differential output E+||<br />
|-<br />
| 5||B-||Differential input B-|| Analog input B+||rowspan=2|Quadrature encoder (B channel)/SinCos/resolver input<br />
|-<br />
| 6||B+||Differential input B+|| Analog input B-<br />
|-<br />
| 7||A-||Differential input A-|| Analog input A-||rowspan=2|Quadrature encoder (A channel)/SinCos/resolver input<br />
|-<br />
| 8||A+||Differential input A+|| Analog input A+<br />
<br />
|-<br />
| 9|| 5V_OUT||colspan=2 |Encoder supply 5V output || rowspan=2|Encoder power supply<br />
|-<br />
| 10|| GND ||colspan=2 |Encoder supply ground <br />
|-<br />
| 11|| E-||Differential input E-|| Differential output E-||<br />
|-<br />
| 12|| D-||Differential input D-|| Differential output D-|| rowspan=2|Resolver coil drive<br />
|-<br />
| 13|| D+||Differential input D+|| Differential output D+<br />
|-<br />
| 14|| C-||colspan=2 |Differential input C- ||rowspan=2|Quadrature encoder index channel (Z channel)<br />
|-<br />
| 15|| C+||colspan=2 |Differential input C+<br />
|}<br />
{{info|Especially with long encoder cables, it might be necessary to add encoder line termination resistors, see [[Terminating differential encoder lines]].}}<br />
<br />
==J1 wiring guide==<br />
{{tip|Devices with [[differential signaling]] may use varying mark-up habits of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and {{overline|X}}. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.}}<br />
===Incremental encoder===<br />
====Differential====<br />
Differential outputs (RS422 electrical standard) of encoder provides a good [[Electromagnetic interference|EMI]] immunity and supports long cables with high speed signals. <br />
Typical differential encoder has 6-8 wires:<br />
*Ground<br />
*Supply<br />
*Channel A+ <br />
*Channel A- <br />
*Channel B+ <br />
*Channel B- <br />
*Index+ channel (optional), typically called Z+ or I+<br />
*Index- channel (optional), typically called Z- or I-<br />
The negative outputs have the inverted (or mirror image) signal of the positive outputs.<br />
<br />
{| class="wikitable"<br />
|-<br />
! J1 pin # !! Pin name !! Pin function !! Encoder wire<br />
|-<br />
| Shell||PE|| Earth/case || Cable shield<br />
|-<br />
| 5||B-||Differential input B-|| Channel B-<br />
|-<br />
| 6||B+||Differential input B+|| Channel B+<br />
|-<br />
| 7||A-||Differential input A-|| Channel A-<br />
|-<br />
| 8||A+||Differential input A+|| Channel A+<br />
|-<br />
| 9|| 5V_OUT||Encoder supply 5V output || Encoder supply<br />
|-<br />
| 10|| GND ||Encoder supply ground || Encoder ground<br />
|-<br />
| 14|| C-||Differential input C-|| Index- (Z- or I-) channel<br />
|-<br />
| 15|| C+||Differential input C+|| Index+ (Z+ or I+) channel<br />
|}<br />
Pins not listed in the table are left open or used for other functions such as Hall sensor.<br />
<br />
====Single ended====<br />
Single ended output type is usually one of the following:<br />
*Open collector outputs<br />
*TTL outputs<br />
*CMOS outputs<br />
Typical single ended encoder has 4-5 wires:<br />
*Ground<br />
*Supply<br />
*Channel A<br />
*Channel B<br />
*Index channel (optional), typically called Z or I channel<br />
<br />
{| class="wikitable"<br />
|-<br />
! J1 pin # !! Pin name !! Pin function !! Encoder wire<br />
|-<br />
| Shell||PE|| Earth/case || Cable shield<br />
|-<br />
| 6||B+||Differential input B+|| Channel B<br />
|-<br />
| 8||A+||Differential input A+|| Channel A<br />
|-<br />
| 9|| 5V_OUT||Encoder supply 5V output || Encoder supply<br />
|-<br />
| 10|| GND ||Encoder supply ground || Encoder ground<br />
|-<br />
| 15|| C+||Differential input C+ || Index (Z) channel<br />
|}<br />
Pins not listed in the table are left open or used for other functions such as Hall sensor.<br />
<br />
===Hall sensor===<br />
Some AC/BLDC/Linear motors are equipped with a [[Hall sensor]] which allows faster drive initialization after power-on as [[Phasing a.k.a. phase search|phase search]] can be skipped. Hall sensor is also necessary in the case where motor is not able to move freely in both directions when powered on (i.e. if axis rests at the end of mechanical travel or is vertical axis).<br />
<br />
Many Hall sensors have differential outputs (non-inverted and inverted channels, just like differential encoder), however Argon has only single ended Hall sensor inputs which supports both output types (single ended and differential).<br />
<br />
It is possible to connect a Hall sensor together with other feedback devices to the same port. In such case supply pins may be shared between multiple FBD's.<br />
<br />
{| class="wikitable"<br />
|-<br />
! J1 pin # !! Pin name !! Electrical function !! Hall sensor wiring<br />
|-<br />
| Shell||PE|| Earth/case || Feedback cable shield<br />
|-<br />
| 1||HALL_W|| Hall sensor input, phase W || Hall sensor W (if differential, then W+ channel) <br />
|-<br />
| 2||HALL_V|| Hall sensor input, phase V || Hall sensor V (if differential, then V+ channel)<br />
|-<br />
| 3||HALL_U|| Hall sensor input, phase U || Hall sensor U (if differential, then U+ channel)<br />
|-<br />
| 9|| 5V_OUT||Encoder supply 5V output || Hall sensor supply<br />
|-<br />
| 10|| GND ||Encoder supply ground || Hall sensor ground<br />
|}<br />
<br />
Pins not listed in the table are left open or used for other functions such as Hall sensor.<br />
<br />
[[Category:Argon_wiring]]</div>Esahttps://granitedevices.com/w/index.php?title=SimuCUBE_troubleshooting&diff=6726SimuCUBE troubleshooting2018-03-16T10:59:28Z<p>Esa: /* Over voltage fault */</p>
<hr />
<div>{{SimucubeManualNav}}This page lists common pitfalls and solutions regarding SimuCUBE. Please also refer to common firmware-related troubleshooting steps described in [[SimuCUBE Firmware User Guide]].<br />
<br />
== Over voltage fault ==<br />
Even with features to reduce the risk, there is a chance that the regenerative resistor circuitry get's damaged. To prevent this, use the latest firmware, and double check your FOV (over voltage fault) setting in Granity.<br />
<br />
To check if the regenerative circuitry is damaged, a multimeter (resistance meter) is needed.<br />
Please note, that some multimeters do not compensate for the test wire resistance, and this might lead to higher value when measuring the resistor. <br />
<br />
=== SimuCUBE 1r005 ===<br />
<br />
# Measure the resistance from the X2 pad HV bus output to Resistor input. The measured resistance should be close to 2.2 Ohm in single resistor SimuCUBE boards, and close to 2.35 Ohm in boards where two resistors are soldered.<br />
# Measure the resistance from the surface mounted transistor tab to GND. Please refer to the image for test points. The measured resistance should stabilize close to 6 kOhms.<br />
#* Measuring with automatic range, the MOSFET resistance measures as described in 1r004 section.<br />
#* Measuring with 20 kOhm range, the MOSFET resistance rises slowly from < 1 kOhm to 6 kOhm.<br />
<br />
<br />
[[File:Simucube 1r005 reg.resistor circuit measurement.png|none|thumb|SimuCUBE 1r005 regenerative resistor circuit measurement pads.]]<br />
<br />
=== SimuCUBE 1r004 ===<br />
<br />
# Measure the resistance from the X2 pad HV+ to RES. The measured resistance should be close to 2.2 Ohm in single resistor SimuCUBE boards, and close to 2.35 Ohm in boards where two resistors are soldered.<br />
# Measure the resistance from the X2 pad RES to GND. The measured resistance should be around 12..15 kOhm, changing (lowering) slowly.<br />
<br />
Should the resistor measure more than 5 Ohm, and/or the MOSFET measures less than 10 kOhm, then double check your measurement, and if the results persist, then the respective component need to be changed.<br />
<br />
[[File:Simucube regen. resistor cirquit measurement.jpg|none|thumb|SimuCUBE 1r004 regenerative resistor circuit measurement pads.]]<br />
<br />
=== SimuCUBE won't go into DFU mode ===<br />
# If device does not appear as DFU mode device when plugged in, check Windows Device Manager if there is any unknown USB devices. If yes, then try unplugging SimuCUBE USB cable and see if that device disappears. If this is the case, then it indicates that device driver is not installed properly. Try installing ST DfuSeDemo software with drivers to solve the issue. DfuSeDemo Installation Directory will contain the required drivers.<br />
# Maybe USB device is not recognized at all? Keep Device Manager open and plug/unplug SimuCUBE while keeping eye on the Device Manager list. If you see list refresh, then it is a sign that device has entered/left the list. If nothing happens, then it might indicate hardware issue as no USB device is recognized at all.<br />
# Download & use [http://www.nirsoft.net/utils/usb_devices_view.html USBDeview] to see whether STM32 BOOTLOADER device or any device missing driver is listed:<br />[[File:usbviewscreenshot.png]]<br />
<br />
=== SimuCUBE unexpectedly stuck in DFU mode ===<br />
It is possible, but very rare, that SimuCUBE gets stuck in DFU mode or switches to DFU mode by itself without user interaction.<br />
Please refer to separate support article: [[SimuCUBE stuck in DFU mode]]<br />
<br />
[[Category:SimuCUBE_troubleshooting]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=File:Simucube_1r005_reg.resistor_circuit_measurement.png&diff=6725File:Simucube 1r005 reg.resistor circuit measurement.png2018-03-16T10:41:53Z<p>Esa: </p>
<hr />
<div></div>Esahttps://granitedevices.com/w/index.php?title=SimuCUBE_troubleshooting&diff=6724SimuCUBE troubleshooting2018-03-16T10:09:35Z<p>Esa: /* Over voltage fault */</p>
<hr />
<div>{{SimucubeManualNav}}This page lists common pitfalls and solutions regarding SimuCUBE. Please also refer to common firmware-related troubleshooting steps described in [[SimuCUBE Firmware User Guide]].<br />
<br />
=== Over voltage fault ===<br />
Even with features to reduce the risk, there is a chance that the regenerative resistor circuitry get's damaged. To prevent this, use the latest firmware, and double check your FOV (over voltage fault) setting in Granity.<br />
<br />
Note: These steps are suitable for SimuCUBE hardware version 1 (1r004) boards. For support for hardware revision 2 (1r005), please contact Granite Devices Support.<br />
<br />
To check if the regenerative circuitry is damaged, a multimeter (resistance meter) is needed.<br />
<br />
# Measure the resistance from the X2 pad HV+ to RES. The measured resistance should be close to 2.2 Ohm in single resistor SimuCUBE boards, and close to 2.35 Ohm in boards where two resistors are soldered.<br />
# Measure the resistance from the X2 pad RES to GND. The measured resistance should be around 12..15 kOhm, changing (lowering) slowly.<br />
<br />
Please note, that some multimeters do not compensate for the test wire resistance, and this might lead to higher value when measuring the resistor. <br />
<br />
Should the resistor measure more than 5 Ohm, and/or the MOSFET measures less than 10 kOhm, then double check your measurement, and if the results persist, then the respective component need to be changed.<br />
<br />
[[File:Simucube regen. resistor cirquit measurement.jpg|none|thumb|SimuCUBE 1r004 regenerative resistor circuit measurement pads.]]<br />
<br />
=== SimuCUBE won't go into DFU mode ===<br />
# If device does not appear as DFU mode device when plugged in, check Windows Device Manager if there is any unknown USB devices. If yes, then try unplugging SimuCUBE USB cable and see if that device disappears. If this is the case, then it indicates that device driver is not installed properly. Try installing ST DfuSeDemo software with drivers to solve the issue. DfuSeDemo Installation Directory will contain the required drivers.<br />
# Maybe USB device is not recognized at all? Keep Device Manager open and plug/unplug SimuCUBE while keeping eye on the Device Manager list. If you see list refresh, then it is a sign that device has entered/left the list. If nothing happens, then it might indicate hardware issue as no USB device is recognized at all.<br />
# Download & use [http://www.nirsoft.net/utils/usb_devices_view.html USBDeview] to see whether STM32 BOOTLOADER device or any device missing driver is listed:<br />[[File:usbviewscreenshot.png]]<br />
<br />
=== SimuCUBE unexpectedly stuck in DFU mode ===<br />
It is possible, but very rare, that SimuCUBE gets stuck in DFU mode or switches to DFU mode by itself without user interaction.<br />
Please refer to separate support article: [[SimuCUBE stuck in DFU mode]]<br />
<br />
[[Category:SimuCUBE_troubleshooting]]<br />
[[Category:Troubleshooting]]</div>Esahttps://granitedevices.com/w/index.php?title=Argon_specifications&diff=6700Argon specifications2018-03-05T10:42:53Z<p>Esa: /* Status of feedback device support */</p>
<hr />
<div>{{ArgonManualNav}}{{parent|ARGON}}This page lists official functional, electrical and physical specifications of the [[ARGON Servo Drive]].<br />
{{specs}}<br />
==Main functionality==<br />
{{:Argon specifications overview table}}<br />
<br />
==Mechanical==<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units<br />
|-<br />
| Dimensions (with wall mounting tabs)¹ || 51×197×127 (W×H×D)|| mm <br />
|-<br />
| Dimensions (excluding wall mounting tabs)¹ || 51×177×127 (W×H×D)|| mm <br />
|-<br />
| Weight || 0.88 || kg<br />
|-<br />
| Case materials || Steel (cover), aluminum (heat sink) || <br />
|-<br />
| Drawings || {{dlfile|Argon_asm_dimensions.PDF|2D (PDF)}}, {{dlfile|Argon_3d_models.zip|3D (IGES & STEP)}} ||<br />
|}<br />
¹) Wall mounting tabs are fixed part of enclosure<br />
<br />
==Environment==<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units<br />
|-<br />
| Operating temperature || 10-70 || °C<br />
|-<br />
| Storage temperature || -30-90 || °C<br />
|-<br />
| Humidity || 0-95 non-condensing || %<br />
|-<br />
| Power dissipation || 2-100¹ || W<br />
|}<br />
¹) Power dissipation is output current and input voltage related.<br />
<br />
==Power supply==<br />
{| class="wikitable"<br />
|-<br />
! Supply<sup>2</sup> !! Input voltage !! Input current typ !! Input current max<br />
|-<br />
| Logic power || 24 VDC +/- 10% || 0.1 - 0.4 A || 0.5 A<br />
|-<br />
| rowspan="2" |Motor power³ || 85 - 264 VAC 50/60 Hz || 0 - 16 A<sup>1</sup> || 26 A<sup>1</sup><br />
|-<br />
| 70<sup>4</sup> - 380 VDC || 0 - 16 A<sup>1</sup> || 26 A<sup>1</sup><br />
|}<br />
<sup>1</sup>) Estimating true current or power consumption based on this table may be difficult as current demand typically varies greatly and and almost completely depends on motor load conditions.<br />
<br />
<sup>2</sup>) Both logic and motor supplies are required.<br />
<br />
<sup>3</sup>) Features internal inrush current limiter<br />
<br />
<sup>4</sup>) Possible to use from 45 VDC upwards, however short circuit protection feature is lost below 70 VDC.<br />
<br />
==Motor output==<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units||Remarks<br />
|-<br />
| Supported motors || AC, BLDC, DC, Linear || || Permanent magnet motors only<br />
|-<br />
| [[Motor peak and continuous current limits|Continuous output current]]|| 0-12.5 || A ([[peak value of sine]]) || User settable limit<br />
|-<br />
| [[Motor peak and continuous current limits|Peak output current]]|| 0-18 || A ([[peak value of sine]]) || Duration 1 sec, then returned to continuous limit. User settable current limit.<br />
|-<br />
| Maximum effective motor phase output voltage || <br />
*3-phase AC motors: V<sub>AC-supply</sub>*0.884 V RMS (phase-to-phase) <br />
*DC motors: V<sub>AC-supply</sub>*1.24 VDC <br />
|| || <br />
*I.e. at 230 VAC supply, the maximum three-phase motor output voltage is 203 V RMS phase-to-phase<br />
*I.e. at 230 VAC supply, the maximum DC motor output voltage is 285 V<br />
|-<br />
| Switching frequency || 17.5 || kHz||<br />
|-<br />
|Maximum modulation depth || 88 || % || Maximum effective output is 88% of [[HV DC bus]] voltage.<br />
|-<br />
|Torque control bandwidth (typ.) || 1-3.3 || kHz || Motor coil dependent<br />
|-<br />
|Torque control cycle time || 57.1 || µs||<br />
|-<br />
|Position & velocity control cycle time || 400 || µs||<br />
|-<br />
|Power conversion efficiency || 90-95 || % || Under typical conditions<br />
|-<br />
|Motor inductance range @ 230 VAC || 1.4-25 || mH||<br />
|-<br />
|Motor inductance range @ 115 VAC || 0.7-25 || mH||<br />
|-<br />
| Motor power range || 0.05 - 1.5 || kW||<br />
|-<br />
| AC commutation frequency || 0-400 || Hz ||<br />
|}<br />
<br />
==Regenerative resistor==<br />
{{Argon regen resistor specs}}<br />
<br />
==Feedback devices==<br />
===Status of feedback device support===<br />
{| class="wikitable"<br />
|-<br />
! Feedback device type !! Status || Electrical interface<br />
|-<br />
| Quadrature incremental encoder || Standard feature || Differential 3-5.5V (RS422), Single ended 3-5.5V (CMOS,TTL,open collector)<br />
|-<br />
| Hall sensors || Standard feature|| Single ended 3-5.5V (CMOS,TTL,open collector). Differential signals accepted.<br />
|-<br />
| Analog SinCos encoder || Standard feature || 1 V p-p signal, 16X, 64X or 256X resolution interpolation factor (user selectable)<sup>2</sup>, max 500 kHz input frequency<br />
|-<br />
| Resolver/synchro || Supported, [[Argon resolver adapter|with adapter]] || 10 kHz excitation<br />
|-<br />
| Serial SSI encoder || Not supported¹ || RS422/RS485<br />
|-<br />
| Serial BiSS encoder || Not supported¹|| RS422/RS485<br />
|-<br />
| Tachogenerator || Not supported¹ <br />
|}<br />
<sup>1</sup>) Supported by hardware. Argon is supported as-is, no new features will be added to it. Custom firmware features are possible with the [[Argon open source firmware]].<br />
<br />
<sup>2</sup>) The final resolution will be 4*line_count*interpolation_factor. I.e. with 1000 lines/electrical cycles per revolution SinCos encoder, the supported resolutions are 64000, 256000 and 1024000 counts per revolution. SinCos encoder can be also used without interpolation (4*line_count resolution).<br />
<br />
===Quadrature encoder electrical properties===<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units || Remarks<br />
|-<br />
| Encoder count rate || 0-4 || MHz || After 4x decoding, digitally filtered<br />
|-<br />
| Supply voltage || 4.8-5.2 || V|| Supplied from drive<br />
|-<br />
| Supply current || 0-500 || mA|| Supplied from drive<br />
|}<br />
===SinCos encoder electrical properties===<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units || Remarks<br />
|-<br />
| Input frequency (16X interpolation) || 0-640 || kHz || <br />
|-<br />
| Input frequency (64X interpolation) || 0-160 || kHz || <br />
|-<br />
| Input frequency (256X interpolation) || 0-40 || kHz || <br />
|-<br />
| Supply voltage || 4.8-5.2 || V|| Supplied from drive<br />
|-<br />
| Supply current || 0-500 || mA|| Supplied from drive<br />
|-<br />
| SinCos signal voltage || 0.8-1.2 || Vp-p || <br />
|}<br />
<br />
==Setpoint signal / reference inputs==<br />
{| class="wikitable"<br />
|-<br />
! [[Setpoint signal]] type !! Status || Electrical interface<br />
|-<br />
| [[Analog setpoint|Analog]] || Standard feature || <br />
*Up to +/-10V or any lower voltage range<br />
*+/-10V (bipolar) and 0-10V with polarity input (unipolar) supported<br />
|-<br />
| [[Pulse and direction]] || Standard feature || Up to 4 MHz step rate, 5V signaling<br />
|-<br />
| [[Quadrature]] || Standard feature || Up to 4 MHz count rate, 5V signaling<br />
|-<br />
| [[PWM]] || Standard feature || <br />
*1-30 kHz PWM carrier frequency (f<sub>PWM</sub>), ~3 kHz for optimal operation.<br />
*Single signal (no polarity input), zero setpoint at 50% duty<br />
*PWM signal is sampled at 60MHz timer thus reading resolution is 60MHz/f<sub>PWM</sub><br />
*PWM+Polarity input mode available on request<br />
|-<br />
| Serial communication || Standard feature || [[SimpleMotion V2]] real-time serial bus with open source SDK. Connect through RS485 or USB.<br />
|-<br />
| Stand-alone operation or custom setpoint signal || User implementable || May be implemented in the Argon open source firmware<br />
|-<br />
| EtherCAT || Planned || Realized with add-on board<br />
|}<br />
See also:<br />
*[[Signal path of motor drive]]<br />
*[[Pulse burst positioning]]<br />
<br />
==Inputs / outputs==<br />
===List of I/O's===<br />
[[File:J5groups.png|thumbnail|J5 I/O connector pin groups. In addition to J5, J2 has digital I/O's for enable and [[Safe torque off|STO]]]]<br />
*Isolated digital inputs (4 channels) - used for limit & home switches and clear faults signal ¹<br />
*Isolated digital outputs (4 channels) - used for status indication ¹<br />
*Differential analog inputs (2 channels) - used as Analog [[Setpoint signal|setpoint]] ¹<br />
*Differential digital inputs (2 channels) - used for [[Pulse and direction|pulse/direction]] or second encoder ¹<br />
*Digital inputs (3 channels) - used for [[Safe torque off|safe torque off]] and drive enable <br />
*Digital output (1 channel) - used for motor solenoid brake<br />
¹) Functions may be altered by modifying the Argon open source firmware<br />
<br />
===Electrical characteristics===<br />
For detailed specifications, see [[Argon user guide/J5 connector electrical interfacing|I/O electrical interfacing]] and [[Argon user guide/Wiring|pinout & wiring]].<br />
{| class="wikitable"<br />
|-<br />
! Property !! Typical value !! Maximum rating !! Units<br />
|-<br />
| Protections (all I/O lines) || colspan="3" |overvoltage, ESD, short circuit, reverse polarity <br />
|-<br />
| Isolated digital input (GPIx) logic 1 voltage || 4.5-24 || 25.5 || V<br />
|-<br />
| Isolated digital input (GPIx) logic 0 voltage || 0-1.3 || || V<br />
|-<br />
| Isolated digital output (GPOx) voltage || 0-24 || 25.5 || V<br />
|-<br />
| Isolated digital output (GPOx) current drive capability ¹,² || 5-20 || 40 || mA<br />
|-<br />
| High speed digital input (HSINx) voltage range || 2.7-5.5 || 6.0 || V<br />
|-<br />
| Analog input input (ANAINx) voltage range || ±10 || ±25 vs GND || V<br />
|-<br />
| Analog input input (ANAINx) resolution || 12 || || bits<br />
|-<br />
| Enable input input logic 1 voltage || 20-24 || 25.5|| V<br />
|-<br />
| [[Safe torque off|STO]] input input logic 1 voltage || 20-24 || 25.5|| V<br />
|-<br />
| Motor brake voltage || 12-24 || 25.5|| V<br />
|-<br />
| Motor brake load current || 0-0.5 ||0.7 || A<br />
|}<br />
¹) Actual output drive capability may vary from unit to unit. Minimum guaranteed capability is 5 mA.<br />
<br />
²) Do not exceed GPO safe operating area (SOA). Loading GPOx pin is within SOA when following equation is true: Voltage_drop_over_GPOx_pin_pair*Load_current < 0.1W. Example: if voltage over GPOx pins is 5V and current 0.01A, then 5V*0.01A=0.05W which is less than 0.1W so the operation is safe. The recommended practice is to drive only high impedance circuits with GPO to avoid overloading.<br />
<br />
==Communication==<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units<br />
|-<br />
| Communication protocol || [[SimpleMotion V2]] || <br />
|-<br />
| Default bitrate|| 460800 || BPS<br />
|-<br />
| Maximum number of Argon devices chained in a single bus || 15 || pcs<br />
|-<br />
| Command throughput || Up to 10000 || Commands/s<br />
|}<br />
==Safety==<br />
{| class="wikitable"<br />
|-<br />
! Feature !! Properties !! Remarks<br />
|-<br />
| [[Safe torque off]] || <br />
*3-way redundancy with 2 physical STO inputs<br />
#Cut AC input by safety relay @ STO1 input<br />
#Cut power stage gate voltage @ STO2 input<br />
#Disable power stage by software @ STO2 input<br />
|| STO1 safe up to 6 A AC RMS input current. Not operational if AC input > 6 A RMS AC or if DC voltage is being supplied to drive through L & N terminals or VP & VN terminals.<br />
|-<br />
| Control error detection ||<br />
*Tracking error (velocity & position)<br />
*Over speed error<br />
*Limit switch <br />
*DC motor runaway prevention on feedback loss<br />
*Communication error <br />
||<br />
|-<br />
|Electrical safety||<br />
*Galvanic isolation between I/O side and power side<br />
*Internal fuse on AC input<br />
*MOV based transient overvoltage protection<br />
*Earth leakage current typ. < 0.5 mA<br />
*ESD, short circuit, reverse polarity protection on all pins<br />
*Surge protection on AC & DC power inputs<br />
|| Galvanic isolation on J1, J2, J3 and J5 connectors against J4 with live AC mains voltages<br />
|-<br />
|Overload safety||<br />
*Over current<br />
*Short circuit (phase-to-phase)<br />
*I<sup>2</sup>t motor thermal protection<br />
*Over & under voltage<br />
*Drive over temperature <br />
||<br />
|}<br />
<br />
==Warnings==<br />
{{damage|Exceeding ratings may affect drive operation and cause instability or even damage the drive or other equipment. Damaged equipment may pose danger to users.}}<br />
<br />
[[Category:Argon]]<br />
[[Category:Argon_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=Argon_specifications&diff=6699Argon specifications2018-03-05T10:41:47Z<p>Esa: /* Feedback devices */</p>
<hr />
<div>{{ArgonManualNav}}{{parent|ARGON}}This page lists official functional, electrical and physical specifications of the [[ARGON Servo Drive]].<br />
{{specs}}<br />
==Main functionality==<br />
{{:Argon specifications overview table}}<br />
<br />
==Mechanical==<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units<br />
|-<br />
| Dimensions (with wall mounting tabs)¹ || 51×197×127 (W×H×D)|| mm <br />
|-<br />
| Dimensions (excluding wall mounting tabs)¹ || 51×177×127 (W×H×D)|| mm <br />
|-<br />
| Weight || 0.88 || kg<br />
|-<br />
| Case materials || Steel (cover), aluminum (heat sink) || <br />
|-<br />
| Drawings || {{dlfile|Argon_asm_dimensions.PDF|2D (PDF)}}, {{dlfile|Argon_3d_models.zip|3D (IGES & STEP)}} ||<br />
|}<br />
¹) Wall mounting tabs are fixed part of enclosure<br />
<br />
==Environment==<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units<br />
|-<br />
| Operating temperature || 10-70 || °C<br />
|-<br />
| Storage temperature || -30-90 || °C<br />
|-<br />
| Humidity || 0-95 non-condensing || %<br />
|-<br />
| Power dissipation || 2-100¹ || W<br />
|}<br />
¹) Power dissipation is output current and input voltage related.<br />
<br />
==Power supply==<br />
{| class="wikitable"<br />
|-<br />
! Supply<sup>2</sup> !! Input voltage !! Input current typ !! Input current max<br />
|-<br />
| Logic power || 24 VDC +/- 10% || 0.1 - 0.4 A || 0.5 A<br />
|-<br />
| rowspan="2" |Motor power³ || 85 - 264 VAC 50/60 Hz || 0 - 16 A<sup>1</sup> || 26 A<sup>1</sup><br />
|-<br />
| 70<sup>4</sup> - 380 VDC || 0 - 16 A<sup>1</sup> || 26 A<sup>1</sup><br />
|}<br />
<sup>1</sup>) Estimating true current or power consumption based on this table may be difficult as current demand typically varies greatly and and almost completely depends on motor load conditions.<br />
<br />
<sup>2</sup>) Both logic and motor supplies are required.<br />
<br />
<sup>3</sup>) Features internal inrush current limiter<br />
<br />
<sup>4</sup>) Possible to use from 45 VDC upwards, however short circuit protection feature is lost below 70 VDC.<br />
<br />
==Motor output==<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units||Remarks<br />
|-<br />
| Supported motors || AC, BLDC, DC, Linear || || Permanent magnet motors only<br />
|-<br />
| [[Motor peak and continuous current limits|Continuous output current]]|| 0-12.5 || A ([[peak value of sine]]) || User settable limit<br />
|-<br />
| [[Motor peak and continuous current limits|Peak output current]]|| 0-18 || A ([[peak value of sine]]) || Duration 1 sec, then returned to continuous limit. User settable current limit.<br />
|-<br />
| Maximum effective motor phase output voltage || <br />
*3-phase AC motors: V<sub>AC-supply</sub>*0.884 V RMS (phase-to-phase) <br />
*DC motors: V<sub>AC-supply</sub>*1.24 VDC <br />
|| || <br />
*I.e. at 230 VAC supply, the maximum three-phase motor output voltage is 203 V RMS phase-to-phase<br />
*I.e. at 230 VAC supply, the maximum DC motor output voltage is 285 V<br />
|-<br />
| Switching frequency || 17.5 || kHz||<br />
|-<br />
|Maximum modulation depth || 88 || % || Maximum effective output is 88% of [[HV DC bus]] voltage.<br />
|-<br />
|Torque control bandwidth (typ.) || 1-3.3 || kHz || Motor coil dependent<br />
|-<br />
|Torque control cycle time || 57.1 || µs||<br />
|-<br />
|Position & velocity control cycle time || 400 || µs||<br />
|-<br />
|Power conversion efficiency || 90-95 || % || Under typical conditions<br />
|-<br />
|Motor inductance range @ 230 VAC || 1.4-25 || mH||<br />
|-<br />
|Motor inductance range @ 115 VAC || 0.7-25 || mH||<br />
|-<br />
| Motor power range || 0.05 - 1.5 || kW||<br />
|-<br />
| AC commutation frequency || 0-400 || Hz ||<br />
|}<br />
<br />
==Regenerative resistor==<br />
{{Argon regen resistor specs}}<br />
<br />
==Feedback devices==<br />
===Status of feedback device support===<br />
{| class="wikitable"<br />
|-<br />
! Feedback device type !! Status || Electrical interface<br />
|-<br />
| Quadrature incremental encoder || Standard feature || Differential 3-5.5V (RS422), Single ended 3-5.5V (CMOS,TTL,open collector)<br />
|-<br />
| Hall sensors || Standard feature|| Single ended 3-5.5V (CMOS,TTL,open collector). Differential signals accepted.<br />
|-<br />
| Analog SinCos encoder || Standard feature || 1 V p-p signal, 16X, 64X or 256X resolution interpolation factor (user selectable)<sup>2</sup>, max 500 kHz input frequency<br />
|-<br />
| Resolver/synchro || Supported, [[Argon resolver adapter|with adapter]] || 10 kHz excitation<br />
|-<br />
| Serial SSI encoder || Not supported¹ || RS422/RS485<br />
|-<br />
| Serial BiSS encoder || Not supported¹|| RS422/RS485<br />
|-<br />
| Tachogenerator || Not supported¹ <br />
|}<br />
<sup>1</sup>) Supported by hardware. Argon is supported as-is, no new features will be added to it. Custom firmware features are possible with the open source firmware.<br />
<br />
<sup>2</sup>) The final resolution will be 4*line_count*interpolation_factor. I.e. with 1000 lines/electrical cycles per revolution SinCos encoder, the supported resolutions are 64000, 256000 and 1024000 counts per revolution. SinCos encoder can be also used without interpolation (4*line_count resolution).<br />
<br />
===Quadrature encoder electrical properties===<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units || Remarks<br />
|-<br />
| Encoder count rate || 0-4 || MHz || After 4x decoding, digitally filtered<br />
|-<br />
| Supply voltage || 4.8-5.2 || V|| Supplied from drive<br />
|-<br />
| Supply current || 0-500 || mA|| Supplied from drive<br />
|}<br />
===SinCos encoder electrical properties===<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units || Remarks<br />
|-<br />
| Input frequency (16X interpolation) || 0-640 || kHz || <br />
|-<br />
| Input frequency (64X interpolation) || 0-160 || kHz || <br />
|-<br />
| Input frequency (256X interpolation) || 0-40 || kHz || <br />
|-<br />
| Supply voltage || 4.8-5.2 || V|| Supplied from drive<br />
|-<br />
| Supply current || 0-500 || mA|| Supplied from drive<br />
|-<br />
| SinCos signal voltage || 0.8-1.2 || Vp-p || <br />
|}<br />
<br />
==Setpoint signal / reference inputs==<br />
{| class="wikitable"<br />
|-<br />
! [[Setpoint signal]] type !! Status || Electrical interface<br />
|-<br />
| [[Analog setpoint|Analog]] || Standard feature || <br />
*Up to +/-10V or any lower voltage range<br />
*+/-10V (bipolar) and 0-10V with polarity input (unipolar) supported<br />
|-<br />
| [[Pulse and direction]] || Standard feature || Up to 4 MHz step rate, 5V signaling<br />
|-<br />
| [[Quadrature]] || Standard feature || Up to 4 MHz count rate, 5V signaling<br />
|-<br />
| [[PWM]] || Standard feature || <br />
*1-30 kHz PWM carrier frequency (f<sub>PWM</sub>), ~3 kHz for optimal operation.<br />
*Single signal (no polarity input), zero setpoint at 50% duty<br />
*PWM signal is sampled at 60MHz timer thus reading resolution is 60MHz/f<sub>PWM</sub><br />
*PWM+Polarity input mode available on request<br />
|-<br />
| Serial communication || Standard feature || [[SimpleMotion V2]] real-time serial bus with open source SDK. Connect through RS485 or USB.<br />
|-<br />
| Stand-alone operation or custom setpoint signal || User implementable || May be implemented in the Argon open source firmware<br />
|-<br />
| EtherCAT || Planned || Realized with add-on board<br />
|}<br />
See also:<br />
*[[Signal path of motor drive]]<br />
*[[Pulse burst positioning]]<br />
<br />
==Inputs / outputs==<br />
===List of I/O's===<br />
[[File:J5groups.png|thumbnail|J5 I/O connector pin groups. In addition to J5, J2 has digital I/O's for enable and [[Safe torque off|STO]]]]<br />
*Isolated digital inputs (4 channels) - used for limit & home switches and clear faults signal ¹<br />
*Isolated digital outputs (4 channels) - used for status indication ¹<br />
*Differential analog inputs (2 channels) - used as Analog [[Setpoint signal|setpoint]] ¹<br />
*Differential digital inputs (2 channels) - used for [[Pulse and direction|pulse/direction]] or second encoder ¹<br />
*Digital inputs (3 channels) - used for [[Safe torque off|safe torque off]] and drive enable <br />
*Digital output (1 channel) - used for motor solenoid brake<br />
¹) Functions may be altered by modifying the Argon open source firmware<br />
<br />
===Electrical characteristics===<br />
For detailed specifications, see [[Argon user guide/J5 connector electrical interfacing|I/O electrical interfacing]] and [[Argon user guide/Wiring|pinout & wiring]].<br />
{| class="wikitable"<br />
|-<br />
! Property !! Typical value !! Maximum rating !! Units<br />
|-<br />
| Protections (all I/O lines) || colspan="3" |overvoltage, ESD, short circuit, reverse polarity <br />
|-<br />
| Isolated digital input (GPIx) logic 1 voltage || 4.5-24 || 25.5 || V<br />
|-<br />
| Isolated digital input (GPIx) logic 0 voltage || 0-1.3 || || V<br />
|-<br />
| Isolated digital output (GPOx) voltage || 0-24 || 25.5 || V<br />
|-<br />
| Isolated digital output (GPOx) current drive capability ¹,² || 5-20 || 40 || mA<br />
|-<br />
| High speed digital input (HSINx) voltage range || 2.7-5.5 || 6.0 || V<br />
|-<br />
| Analog input input (ANAINx) voltage range || ±10 || ±25 vs GND || V<br />
|-<br />
| Analog input input (ANAINx) resolution || 12 || || bits<br />
|-<br />
| Enable input input logic 1 voltage || 20-24 || 25.5|| V<br />
|-<br />
| [[Safe torque off|STO]] input input logic 1 voltage || 20-24 || 25.5|| V<br />
|-<br />
| Motor brake voltage || 12-24 || 25.5|| V<br />
|-<br />
| Motor brake load current || 0-0.5 ||0.7 || A<br />
|}<br />
¹) Actual output drive capability may vary from unit to unit. Minimum guaranteed capability is 5 mA.<br />
<br />
²) Do not exceed GPO safe operating area (SOA). Loading GPOx pin is within SOA when following equation is true: Voltage_drop_over_GPOx_pin_pair*Load_current < 0.1W. Example: if voltage over GPOx pins is 5V and current 0.01A, then 5V*0.01A=0.05W which is less than 0.1W so the operation is safe. The recommended practice is to drive only high impedance circuits with GPO to avoid overloading.<br />
<br />
==Communication==<br />
{| class="wikitable"<br />
|-<br />
! Property !! Value !! Units<br />
|-<br />
| Communication protocol || [[SimpleMotion V2]] || <br />
|-<br />
| Default bitrate|| 460800 || BPS<br />
|-<br />
| Maximum number of Argon devices chained in a single bus || 15 || pcs<br />
|-<br />
| Command throughput || Up to 10000 || Commands/s<br />
|}<br />
==Safety==<br />
{| class="wikitable"<br />
|-<br />
! Feature !! Properties !! Remarks<br />
|-<br />
| [[Safe torque off]] || <br />
*3-way redundancy with 2 physical STO inputs<br />
#Cut AC input by safety relay @ STO1 input<br />
#Cut power stage gate voltage @ STO2 input<br />
#Disable power stage by software @ STO2 input<br />
|| STO1 safe up to 6 A AC RMS input current. Not operational if AC input > 6 A RMS AC or if DC voltage is being supplied to drive through L & N terminals or VP & VN terminals.<br />
|-<br />
| Control error detection ||<br />
*Tracking error (velocity & position)<br />
*Over speed error<br />
*Limit switch <br />
*DC motor runaway prevention on feedback loss<br />
*Communication error <br />
||<br />
|-<br />
|Electrical safety||<br />
*Galvanic isolation between I/O side and power side<br />
*Internal fuse on AC input<br />
*MOV based transient overvoltage protection<br />
*Earth leakage current typ. < 0.5 mA<br />
*ESD, short circuit, reverse polarity protection on all pins<br />
*Surge protection on AC & DC power inputs<br />
|| Galvanic isolation on J1, J2, J3 and J5 connectors against J4 with live AC mains voltages<br />
|-<br />
|Overload safety||<br />
*Over current<br />
*Short circuit (phase-to-phase)<br />
*I<sup>2</sup>t motor thermal protection<br />
*Over & under voltage<br />
*Drive over temperature <br />
||<br />
|}<br />
<br />
==Warnings==<br />
{{damage|Exceeding ratings may affect drive operation and cause instability or even damage the drive or other equipment. Damaged equipment may pose danger to users.}}<br />
<br />
[[Category:Argon]]<br />
[[Category:Argon_user_guide]]</div>Esahttps://granitedevices.com/w/index.php?title=IONI_%26_IONICUBE_user_guide/Making_the_first_Granity_connection&diff=6634IONI & IONICUBE user guide/Making the first Granity connection2018-02-27T11:17:01Z<p>Esa: </p>
<hr />
<div>{{IoniManualNav}}{{parent|IONI & IONICUBE user guide}}Follow the instructions to make the first Granity connection to IONI drive.<br />
==Preparations==<br />
# Download and install the [[Granity]] software. Latest version can be downloaded from the link: [http://granitedevices.com/assets/files/granity_setup.exe Granity software] for windows (approx 18 MB)<br />
# Make a wiring similar to the image below<br />
#*With IONICUBE 4X revision 008 and lower, make sure that in the pinheader JP10 only position 1 has a jumper as depicted.<br />
#*With IONICUBE 4X revision 009 and higher, make sure that the switch S1 position 1 is ON and position 4 (DFU mode) is OFF.<br />
#*If you use a USB cable to connect (r. 009 and higher), turn also S1 position 2 and 3 ON.<br />
# Connect IONICUBE to a PC<br />
#* with [[SimpleMotion V2 USB adapter]] and a straight Ethernet cable to connector X1, or<br />
#* with an USB cable without any adapters.<br />
# Power up the 24 VDC power. Leds at the back of the IONI drive should start blinking ([[IONI & IONICUBE user guide/LED indicators|more about blinking sequences]]). <br />
# Launch Granity software and:<br />
##Go to Connect tab<br />
##Ensure that "SimpleMotion V2 Adapter" is selected from dropdown menu called ''Communication interface device''. (note 1)<br />
##Click ''Connect to drive''<br />
##Once list of connected drives pop up, select the one you connected and click ''Open''<br />
<br />
Now if everything has gone well, you should see information about the 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.<br />
<br />
Note 1) If multiple choices are named as "SimpleMotion V2 Adapter", then try each of them to find the correct one. Also if no adapters are found, try launching Granity software again as the list of adapter choices are updated only at program start-up.<br />
<br />
{{picturebox|Ionicube granity minimum.png|caption=Minimum connection for Granity}}<br />
{{picturebox|Ionicube_009_dip_switch_detail.png|caption=SM Bus termination switch position for IONICUBE revision 009 and higher.}}<br />
<br />
More information about the termination and biasing of the RS485 serial bus here: [[Wikipedia:RS-485]].<br />
<br />
{{next|[[IONI & IONICUBE user guide/Wiring overview]]}}</div>Esa