Editing Argon user guide/Drive parameterization

{{SetAUGTitle|parameterization}}{{ArgonManualNav}}
This article will describe how to set-up Argon parameters with [[Granity]] to make motor operational and ready for [[Servo motor tuning guide|servo tuning]].
==Preparations and connection==
As the goal is to parameterize and make motor operational, we should have:
# The drive and motor [[Argon user guide/Wiring|fully wired]]. However it's not required to have controller (to J5 port) or braking resistor connected at this point.
# Be familiar with the operation and parameters of [[Granity]]. Make sure you have read [[Granity user guide]].
# Granity connection working. See [[Argon_user_guide/Making_the_first_Granity_connection|Making the first Granity connection]]
==Walk-through of initial parameterization==
In this chapter we walk-trough all Granity tabs and modify the parameter needed. This guide assumes that the drive is in factory defaults state (not configured before). Restore drive to factory state can be done by [[Granity user guide/Uploading a firmware|uploading a firmware]] file to the drive.
===Connect tab===
No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab.
===Goals tab===
The factory defaults (torque control as control mode and serial only as setpoint) as well as the other defaults are the correct ones for beginning.
===Machine tab===
In this tab we configure the motor and its feedback device.
====Axis mechanics====
Axis type, units and scale parameters [[AXT]] and [[AXS]] affect only on the [[Granity unit conversion|unit conversion of Granity]] parameters (such as acceleration/velocity limit unit conversions) and has no effect on drive operation.

Choose your axis type and scale, or leave them as defaults. 
====Motor====
Find motor parameters from the motor data sheet/manufacturer specifications.
#Choose motor type from the drowndown list [[MT]]
#Set motor pole count [[MPC]] (non-brush DC motors only). If unsure, see [[Determining motor pole count]].
#Set maximum rated speed [[MMS]] of the motor, or alternatively the maximum allowed motor speed in the target application
#Set motor continuous [[MMC]] and peak [[MMC]] current values. If non-brush DC motor type has been selected, then these are measured as the [[peak value of sine]].
#Set coil resistance [[MR]] and inductance [[ML]], these values are measured [[Phase-to-phase]]. If unavailable, perform [[Tuning torque controller]] manually after initial parameters are set.
#Set thermal time constant [[MTC]]. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with peak current [[MMC]]. 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.

{{tip|As torque is directly proportional to motor current, it is advisable to set current limits lower at the beginning of testing. I.e. 50% of motor's rated current will produce 50% of motor's rated torque.}}

====Feedback device====
#Choose feedback device type from the dropdown [[FBD]]
#Set feedback device resolution. If [[FBD]] is [[quadrature]] encoder, then manufacturers typically give resolution as pulses per revolution (PPR) or lines per revolution (LPR) which are the same thing and shall be entered directly into [[FBR]] field. Some manufactures also call PPR as CPR.
#Configure the polarity of feedback device counting direction by [[FBI]] parameter. 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.
#Leave the Hall sensors Off [[FBH]] during initial setup. Enable later if [[Argon_user_guide/J1_connector_wiring#Hall sensor|necessary]].