Editing IONI & IONICUBE user guide/Motor compatibility

[[File:Servomotor and feedback.png|thumb|Typical servo motor with encoder feedback]]This is a short guide for determining whether or not a motor is suitable for IONI. 
==Compatibility guide==
===Compatible motor technologies===
[[motor types|Motor type]] must be one of the following (either rotary or linear):
*Permanent magnet brushed DC
*Permanent magnet brushless DC (BLDC) (magnetic pole count 2 to 100)
*Permanent magnet AC (magnetic pole count 2 to 100)
*Stepping motor (2 phase)
===Compatible feedback devices===
Servomotors must be equipped with an compatible [[feedback devices]]. 
====Encoders====
If motor is equipped with '''encoder''', following types are compatible:
*Incremental [[quadrature]] output type
*Supply voltage 5V
*Single ended or differential wiring
*2-channel encoder is sufficient for all motor types (index channel and hall sensors are optional)
*Suitable encoder resolutions range from about 100 PPR to 131070 PPR (pulses or lines per revolution)
*Index channel is not required but is supported for precise [[homing]]
*Hall or commutation sensors are not required but are supported for AC/BLDC motors

More than 99% if incremental encoders used today are directly compatible with Argon. 
=====Limited compatibility encoders=====
*Serial data communication based encoders are not currently supported. However if the serial encoder also provides incremental signal outputs, then it can be used as standard incremental encoder with Argon.
*Analog (SinCos) encoder support is partial. At the present mode analog SinCos encoder with 1Vpp output can be connected just like incremental encoder. However at the present state drive will not perform interpolation of analog signal thus not yielding maximum obtainable resolution. The resolution of analog encoder will be the encoder line count multiplied by 4.

===Motor power rating===
Motor '''voltages''' and '''currents''' can introduce some limitations to motor output speed and torque but will not cause unsuitability.
*'''Motor voltage''' is the limiting factor for maximum speed. For example, if you have a 100 VDC brushed DC servo motor and run it at 50 VDC using IONI, then you can expect to get a speed of 50V/100V = 71% of motor's rated speed.  
*'''Motor current''' is the limiting factor for maximum torque. For example, if you have motor rated for 20A DC and drive's maximum output is 15A DC, then you get 15=/20A=75% of the rated torque.
====Smallest suitable motors====
IONI has [[High dynamic range torque control|high dynamic range torque control]] which makes it suitable also for very small motors, such as ones with rated current around 200 mA. 

==Need help determining compatibility?==
If not sure whether your motor is compatible, you may ask it through [[Granite Devices support]]. In inquiry please include details:
*Motor and feedback device manufacturer and part numbers
*Motor and feedback device data sheet or web link to specifications
*Feedback device wiring information (which signals are provided by feedback device)
*Motor current and voltage ratings