Editing Servo motor torque mode test

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** Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.
 
** Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.
 
* The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement.
 
* The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement.
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* You have read and understood [[Servo tuning basics | servo tuning basics]].
 
  
 
{{damage|Don't use [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover] cables in SimpleMotion V2 system}}
 
{{damage|Don't use [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover] cables in SimpleMotion V2 system}}
  
 
== Steps ==
 
== Steps ==
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{{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.}}
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# Read [[Servo tuning basics | servo tuning basics]] to get understanding how servo motors work.
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# Set the drive in Torque mode from [[Granity | Granity]]/Goals tab.
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# Set the drive in Torque mode from [[Granity | Granity]].
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# Go to Granity/Testing tab.
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# Follow the [[Tuning torque controller | torque controller tuning instructions]].
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# Make sure that the setpoint is zero and the drive is enabled and ready.
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# Increase the target setpoint to get the motor moving.
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# Set the {{param|TSP1}} Target setpoint 1 to 500.
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## Go to Granity/Testing tab.
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# Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
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## Make sure that the setpoint is zero and the drive is enabled and ready.
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#*When setpoint reaches 16384 or greater, the maximum current is being delivered to motor. So further increase of setpoint will not have any effect.
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## Set the [TSP1] Target setpoint 1 to 500.
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#*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.
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## Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
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# If the motor moves in a continuous manner, all parameters and wiring are correct.
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## If the motor moves in a continuous manner, all parameters and wiring are correct.
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#* If the motor halts, click the "Set zero setpoint" button and follow the troubleshooting instructions below.
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== Troubleshooting ==
 
== Troubleshooting ==
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* Check wiring, especially logic and motor voltages, Enable, and STO.
 
* Check wiring, especially logic and motor voltages, Enable, and STO.
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* Check [FBI] Invert feedback direction checkbox in Granity/Machine tab, and repeat the steps above.
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* Check FBI Invert feedback direction checkbox in Granity/Machine tab, and repeat the steps above.
 
** This inverts the encoder direction without the need for rewiring.
 
** This inverts the encoder direction without the need for rewiring.
 
* Check the motor pole count and encoder resolution from their datasheets.
 
* Check the motor pole count and encoder resolution from their datasheets.
 
* Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.
 
* Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.
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** 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).
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** The position feedback value is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).
  
 
== Further reading ==
 
== Further reading ==
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* For linear motors, please refer to [[Configuring linear servo motor|linear motor configuration instructions]].
 
* For linear motors, please refer to [[Configuring linear servo motor|linear motor configuration instructions]].
 
* For stepping motors, please refer to [[Using stepping motor with IONI|stepping motor configuration instructions]].
 
* For stepping motors, please refer to [[Using stepping motor with IONI|stepping motor configuration instructions]].
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[[Category:Application]]
 
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[[Category:Motor_drives]]
 
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[[Category:Setup_guides]]
 
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[[Category:Troubleshooting]]
 

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