Argon user guide/Drive parameterization - Revision history

Mtakala: /* Feedback device */

2019-10-31T16:23:48Z

‎Feedback device

Tero K: FOV and FUV guide changed

2016-09-21T21:31:42Z

FOV and FUV guide changed

Tero K: edit text after param template

2015-08-28T23:36:06Z

edit text after param template

Tero K: Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}"

2015-08-28T19:54:16Z

Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}"

Show changes

Tero K: FOV 10% margin

2015-01-09T23:25:41Z

FOV 10% margin

Tero K: /* Walk-through of initial parameterization */

2014-08-19T10:10:46Z

‎Walk-through of initial parameterization

Tero K at 10:09, 19 August 2014

2014-08-19T10:09:32Z

Tero K: /* Motor */

2014-07-22T11:57:25Z

‎Motor

Tero K at 13:41, 12 December 2013

2013-12-12T13:41:45Z

Tero K: /* Motor */

2013-09-27T21:43:43Z

‎Motor

@@ Line 35: / Line 35: @@
 #Configure the polarity of feedback device counting direction by {{param|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 from the parameter {{param|FBH}} during initial setup. Enable later if necessary ([[Argon_user_guide/J1_connector_wiring#Hall sensor|see when]]).
 ===Tuning===
 Tuning tab contains feedback gain values for velocity and position control modes as well as torque bandwidth limit setting. Configuring these parameters are documented in [[Servo motor tuning guide]]. However, before proceeding into tuning, go through all other settings listed in this article.

@@ Line 42: / Line 42: @@
 These settings specify drive electrical condition such as supply voltage and over current tolerance.
 #Leave {{param|FOC}} value as default if no overcurrent faults occur. See [[Tuning torque controller]] if overcurrent faults occur.
-#Set {{param|FOV}} following way depending on your AC mains voltage. Set FOV value at least 10% higher than nominal HV DC bus voltage (FOV=1.55*AC voltage):
+#Set {{param|FUV}} and {{param|FOV}} by following the page [[Configuring drive voltage limits FUV and FOV]].
-##220-240 VAC mains, set this 355-380 VDC
-##110-120 VAC mains, set this to 170-200 VDC
-#Set {{param|FUV}} following way depending on your AC mains voltage:
-##220-240 VAC mains, set this 200 VDC
-##110-120 VAC mains, set this to 100 VDC
 #It is important to goal deviation faults (i.e. {{param|FFT}}, {{param|FPT}}, {{param|FVT}}, {{param|FEV}}) as low as possible. Set them so that faults don't occur during normal operation but any anomaly or unexpected behavior will trigger them.
 {{warning|If goal deviation faults are unnecessary high, drive may pose a danger in case of unexpected behavior. For example if motor starts running away full speed without command, then proper velocity fault threshold values may save from damage.}}

@@ Line 8: / Line 8: @@
 ==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.
-{{tip|'''Experimenting with drive parameters is (mostly) safe.''' If motor is attached to machine or bench for testing and nothing is attached to shaft (so motor can't jump but it can spin freely), then playing with all drive parameters can be regarded safe. The most important parameters are proper motor current limit values {{param|MMC}} and {{param|MCC}} to avoid overheating of motor. If unsure of proper current limits, start with low values and increase gradually if motor stays cool.}}
+{{tip|'''Experimenting with drive parameters is (mostly) safe.''' If motor is attached to machine or bench for testing and nothing is attached to shaft (so motor can't jump but it can spin freely), then playing with all drive parameters can be regarded safe. The most important parameters are proper motor {{param|MMC}} and {{param|MCC}} to avoid overheating of motor. If unsure of proper current limits, start with low values and increase gradually if motor stays cool.}}
 ===Connect tab===
 No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab.
@@ Line 16: / Line 16: @@
 In this tab we configure the motor and its feedback device.
 ====Axis mechanics====
-Axis type, units and scale parameters {{param|AXT}} and {{param|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.
+Parameters {{param|AXT}} and {{param|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 {{param|MT}}. If motor is linear type, see [[configuring linear servo motor]].
+#Choose motor type from the drown down list {{param|MT}}. If motor is linear type, see [[configuring linear servo motor]].
-#Set motor pole count {{param|MPC}} (non-brush DC motors only). If unsure, see [[Determining motor pole count]].
+#Set motor {{param|MPC}} (non-brush DC motors only). If unsure, see [[Determining motor pole count]].
-#Set maximum rated speed {{param|MMS}} of the motor, or alternatively the maximum allowed motor speed in the target application
+#Set {{param|MMS}} of the motor, or alternatively the maximum allowed motor speed in the target application
-#Set motor continuous {{param|MMC}} and peak {{param|MMC}} current values. If non-brush DC motor type has been selected, then these are measured as the [[peak value of sine]]. See [[Motor peak and continuous current limits]] for description.
+#Set motor {{param|MMC}} and {{param|MMC}} current values. If non-brush DC motor type has been selected, then these are measured as the [[peak value of sine]]. See [[Motor peak and continuous current limits]] for description.
-#Set coil resistance {{param|MR}} and inductance {{param|ML}}, these values are measured [[Phase-to-phase]]. If unavailable, perform [[Tuning torque controller]] manually after initial parameters are set.
+#Set motor {{param|MR}} and {{param|ML}}, these values are measured [[Phase-to-phase]]. If unavailable, perform [[Tuning torque controller]] manually after initial parameters are set.
-#Set thermal time constant {{param|MTC}}. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with peak current {{param|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.
+#Set {{param|MTC}}. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with {{param|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 {{param|FBD}}
+#Choose feedback device type from the drop down {{param|FBD}}
 #Set feedback device resolution. If {{param|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 {{param|FBR}} field. Some manufactures also call PPR as CPR.
 #Configure the polarity of feedback device counting direction by {{param|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 {{param|FBH}} during initial setup. Enable later if necessary ([[Argon_user_guide/J1_connector_wiring#Hall sensor|see when]]).
+#Leave the Hall sensors Off from the parameter {{param|FBH}} during initial setup. Enable later if necessary ([[Argon_user_guide/J1_connector_wiring#Hall sensor|see when]]).
 ===Tuning===
 Tuning tab contains feedback gain values for velocity and position control modes as well as torque bandwidth limit setting. Configuring these parameters are documented in [[Servo motor tuning guide]]. However, before proceeding into tuning, go through all other settings listed in this article.
@@ Line 53: / Line 53: @@
 ====Goal deviation faults====
 These faults adjust motor monitoring during operation. Drive will enter into fault state if motor condition deviates more than allowed from the desired condition. See [[Granity unit conversion]] before adjusting.
-#Goal fault filter time {{param|FFT}} sets the time how fast {{param|FPT}}, {{param|FVT}}, {{param|FEV}} and {{param|FMO}} faults react. Setting higher time value allows drive to continue operation over short deviations thus avoid false triggering. Set this from 0.0 to 0.2 seconds in the beginning.
+#{{param|FFT}} sets the time how fast {{param|FPT}}, {{param|FVT}}, {{param|FEV}} and {{param|FMO}} faults react. Setting higher time value allows drive to continue operation over short deviations thus avoid false triggering. Set this from 0.0 to 0.2 seconds in the beginning.
 #Set Position tracking error threshold {{param|FPT}} according how much mechanical axis is allowed to deviate from the setpoint position in position control mode.
 #Set Velocity tracking error threshold {{param|FVT}} according how much motor or axis speed may may deviate from the velocity setpoint. This affects also in position mode as velocity controller is the intermediate step between torque and position controllers.
-#Set Over speed fault {{param|FEV}} according to the maximum speed allowed for the motor or axis. Helps to stop motor if system goes totally out of control and speeds up spuriously.
+#Set {{param|FEV}} according to the maximum speed allowed for the motor or axis. Helps to stop motor if system goes totally out of control and speeds up spuriously.
-#Leave Motion fault threshold {{param|FMO}} as 0 (0 = disabled) for the beginning. Using nonzero value enables motion fault.
+#Leave {{param|FMO}} as 0 (0 = disabled) for the beginning. Using nonzero value enables motion fault.
-#Choose Limit switch function {{param|LFS}} according to your preference. If other than ''Do nothing'' option requires that limit switches are installed and connected to J5 port. Note: at the moment ''Servo stop'' option is active in the drive [[firmware]] and will do nothing until FW upgrade enables it.
+#Choose {{param|LFS}} according to your preference. If other than ''Do nothing'' option requires that limit switches are installed and connected to J5 port. Note: at the moment ''Servo stop'' option is active in the drive [[firmware]] and will do nothing until FW upgrade enables it.
 ===Testing tab===
 These settings does not affect drive operation, so nothing to be changed here at this point. These controls will be used for servo tuning purposes and fault analysis.
@@ Line 73: / Line 73: @@
 #Set-up [[homing]] if required by application
-[[Category:Argon user guide]]
+[[Category:Argon_user_guide]]
-[[Category:Pages needing update after FW upgrades]]
+[[Category:Pages_needing_update_after_FW_upgrades]]

@@ Line 42: / Line 42: @@
 These settings specify drive electrical condition such as supply voltage and over current tolerance.
 #Leave [[FOC]] value as default if no overcurrent faults occur. See [[Tuning torque controller]] if overcurrent faults occur.
-#Set [[FOV]] following way depending on your AC mains voltage:
+#Set [[FOV]] following way depending on your AC mains voltage. Set FOV value at least 10% higher than nominal HV DC bus voltage (FOV=1.55*AC voltage):
-##220-240 VAC mains, set this 340-360 VDC
+##220-240 VAC mains, set this 355-380 VDC
 ##110-120 VAC mains, set this to 170-200 VDC
 #Set [[FUV]] following way depending on your AC mains voltage:

@@ Line 8: / Line 8: @@
 ==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.
-{{tip|'''Experimenting with drive parameters is (mostly) safe.''' If motor is secured to machine or bench for testing and nothing is attached to shaft, then playing with all drive parameters can be regarded safe. The most important parameters are proper motor current limit values [[MMC]] and [[MCC]] to avoid overheating of motor. If unsure of proper current limits, start with low values and increase gradually if motor stays cool.}}
+{{tip|'''Experimenting with drive parameters is (mostly) safe.''' If motor is attached to machine or bench for testing and nothing is attached to shaft (so motor can't jump but it can spin freely), then playing with all drive parameters can be regarded safe. The most important parameters are proper motor current limit values [[MMC]] and [[MCC]] to avoid overheating of motor. If unsure of proper current limits, start with low values and increase gradually if motor stays cool.}}
 ===Connect tab===
 No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab.
@@ Line 61: / Line 61: @@
 ===Testing tab===
 These settings does not affect drive operation, so nothing to be changed here at this point. These controls will be used for servo tuning purposes and fault analysis.
 ==Servo motor tuning==
 Tuning a servo motor is a compulsory task to make motor behave as desired and perform well during operation. Follow the [[Servo motor tuning guide]].

@@ Line 23: / Line 23: @@
 #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 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]]. See [[Motor peak and continuous current limits]] for description.
 #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.