Granity user guide/Goals - Revision history

Tero K: reordering, added missing params

2021-01-04T18:38:21Z

reordering, added missing params

Tero K: /* Homing settings */

2017-11-09T17:14:33Z

‎Homing settings

Esa: /* Homing settings */

2016-09-08T05:58:59Z

‎Homing settings

Tero K: /* Drive function */

2015-07-16T20:04:38Z

‎Drive function

Tero K: /* Drive function */

2015-07-16T20:03:27Z

‎Drive function

Tero K at 13:29, 16 June 2015

2015-06-16T13:29:54Z

Tero K: /* Setpoint input signal */

2015-06-16T12:00:20Z

‎Setpoint input signal

Tero K: /* Setpoint input signal */

2015-06-16T11:55:30Z

‎Setpoint input signal

Tero K: /* Setpoint input signal */

2015-05-15T12:56:15Z

‎Setpoint input signal

Tero K: /* Drive function */

2015-03-31T12:36:20Z

‎Drive function

@@ Line 65: / Line 65: @@
 |-
 |HME||Homing enabled|| Control if and when internal homing function is active || Choose desired option if homing function is wanted. Homing on external command will start homing sequence by software command or via corresponding physical input signal line. ''Homing on power-up'' will initiate homing automatically once drive has been powered on.
 |-
 |HMS||Home switch polarity|| Set home switch or hard stop search direction || Select the direction of travel when home switch or [[hard-stop homing|hard stop]] is being searched by homing or choose ''No home switch search'' if only index pulse search is needed.
 |-
-|HMI||Index pulse search|| Configure feedback device index pulse search || If enabled, drive will search for index pulse coming to feedback device port. Used for precise home position search. Leave disabled if only home switch/hardstop homing is needed. If both HMS and HMI are enabled, then drive will first perform home switch/hard-stop search and then index pulse search.
+|HSS||Home switch source|| Select which input pin will be used for reading home switch state || Some drives support selecting physical input pin for home switch. Use drop down menu to select according to your wiring.
 |-
-|HMH|| Hard stop detection threshold|| The sensitivity of hard stop detection, lower value is more sensitive. Only meaningful when HMS is enabled. || This is the position tracking error level which will cause hard stop detection. This value must be smaller than [[FPT]] to avoid tracking error fault. If electromechanical home switch is being used, set this value 0 to disable hard stop detection.
+|HMH||Hard stop detection threshold|| The sensitivity of hard stop detection, lower value is more sensitive. Only meaningful when HMS is enabled. || This is the position tracking error level which will cause hard stop detection. This value must be smaller than [[FPT]] to avoid tracking error fault. If electromechanical home switch is being used, set this value 0 to disable hard stop detection.
 Even when HMH is enabled, the home switch input will remain active. Home switch / hard stop will stop on the event that occurs first: home switch input pin state change, or increase of position tracking error beyond the HMH parameter value threshold.
 |-
-|HMT||Motor current limit during homing|| Torque/force limit during all homing motion || Set this limit to prevent damage to machine if homing motion is blocked and especially when [[hard-stop homing]] is being used.
+|HSA||Second approach distance||Optional precision increasing run for home switch or hard stop search || Second approach, if enabled by setting non-zero value, will perform home switch or hard stop detection again with reduced velocity. To enable, enter a position value where axis shall move to begin the second home switch or hard stop approach.
 |-
-|HMV||Homing velocity limit|| The travel velocity during homing sequences || Set the velocity limit during homing motion. Normally a low velocity is needed for best repeatability.
+|HMI||Index pulse search|| Configure feedback device index pulse search || If enabled, drive will search for index pulse coming to feedback device port. Used for precise home position search. Leave disabled if only home switch/hardstop homing is needed. If both HMS and HMI are enabled, then drive will first perform home switch/hard-stop search and then index pulse search.
-|-
-|HMA|| Homing acceleration limit|| Set the acceleration limit during homing motion || If acceleration limit is set too low, problems may arise due to long deceleration distance.
 |-
 |HMF||Offset home after homing|| The distance to move after home switch/hard-stop/index pulse searches are complete || Set this value non-zero if it's desired to set zero position out of it's default position, i.e. in the middle of axis.
 |-
 |HFO||Full speed offset move|| Set speed when doing offset move HMF || If ticked, then CVL will be used as velocity limit for HMF, otherwise HMV limit will be used.
 |-
 |HLL||Position soft low limit|| Soft travel limit in negative direction, may be used to eliminate limit switches || Set this value to the ''lowest'' absolute position where axis is permitted to move. Set HLL and HHL as 0 to disable soft travel limit (allows infinite motion in both directions, or use mechanical limit switches).
@@ Line 90: / Line 101: @@
 *Start homing now - starts homing motion if drive is in enabled state, use for testing the settings
 *Abort homing - attempts to stop the homing motion instantly
 ===Stopping & braking settings===

@@ Line 34: / Line 34: @@
 | CIS || Setpoint smoothing|| 250Hz low pass filtering of setpoint signal || Tick the checkbox to smoothen the setpoint signal. This is useful if setpoint is noisy or jittering. Also if using setpoint scaling greater than 100% (MUL>DIV), this may help to smoothen the motion. However, if the lowest possible latency from setpoint change to motor reaction is desired (such as in [[dual-loop feedback position control]]), leave this unticked, as CIS adds about 6 ms delay to setpoint reaction speed.
 |-
-| MUL ||Setpoint multiplier||rowspan=2|MUL and DIV form a fractional scaler for all setpoint signals going to the drive. These variables may be adjusted to get desired sensitivity to the setpoint change.<br><br>Total setpoint scaling effect = MUL/DIV. || Adjust MUL to change scaling of setpoint. Observe right side value to verify the scaling. <br><br>I.e. value of 100% (when MUL=DIV) will pass the setpoint unchanged through the setpoint scaler. And for example setting 200% (MUL=2xDIV) will equal doubling the amplitude of setpoint signal (i.e. in pulse train mode, one pulse equals two pulses, or in analog mode 5V equals 10V).
+| MUL ||Setpoint multiplier|| rowspan="2" |MUL and DIV form a fractional scaler for all setpoint signals going to the drive. These variables may be adjusted to get desired sensitivity to the setpoint change.<br><br>Total setpoint scaling effect = MUL/DIV. || Adjust MUL to change scaling of setpoint. Observe right side value to verify the scaling. <br><br>I.e. value of 100% (when MUL=DIV) will pass the setpoint unchanged through the setpoint scaler. And for example setting 200% (MUL=2xDIV) will equal doubling the amplitude of setpoint signal (i.e. in pulse train mode, one pulse equals two pulses, or in analog mode 5V equals 10V).
 |-
 |DIV||Setpoint divider|| Change DIV value if desired multiplication factor cannot be achieved by default value. Changing DIV also affects the scale of many other variables (conversion values are updated if DIV is changed). It is recommended to have DIV≥50 if possible to preserve drive's internal precision (better smoothness).
@@ Line 54: / Line 54: @@
 Use a limited CAL acceleration value if drive is being used with [[Pulse burst positioning|pulse burst positioning]] or [[SimpleMotion V2]] controller or when motor is being tuned with Granity test stimulus generator.
 |-
-|CVL||Velocity limit || Set maximum allowed velocity, effective in position & velocity modes only. If you're already maxed out this variable and need more range, try reducing DIV value.||rowspan=2|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.
+|CVL||Velocity limit || Set maximum allowed velocity, effective in position & velocity modes only. If you're already maxed out this variable and need more range, try reducing DIV value.|| rowspan="2" |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.
 |-
 |CRV||Error recovery velocity || Set maximum allowed velocity of when drive is recovering from an error state and moves back to the setpoint. Effective in position mode only. If value set to 0, then no recovery motion will follow after reset errors.
@@ Line 71: / Line 71: @@
 |-
 |HMH|| Hard stop detection threshold|| The sensitivity of hard stop detection, lower value is more sensitive. Only meaningful when HMS is enabled. || This is the position tracking error level which will cause hard stop detection. This value must be smaller than [[FPT]] to avoid tracking error fault. If electromechanical home switch is being used, set this value 0 to disable hard stop detection.
 |-
 |HMT||Motor current limit during homing|| Torque/force limit during all homing motion || Set this limit to prevent damage to machine if homing motion is blocked and especially when [[hard-stop homing]] is being used.

@@ Line 74: / Line 74: @@
 |HMT||Motor current limit during homing|| Torque/force limit during all homing motion || Set this limit to prevent damage to machine if homing motion is blocked and especially when [[hard-stop homing]] is being used.
 |-
-|HMV||Homing velicty limit|| The travel velocity during homing sequences || Set the velocity limit during homing motion. Normally a low velocity is needed for best repeatability.
+|HMV||Homing velocity limit|| The travel velocity during homing sequences || Set the velocity limit during homing motion. Normally a low velocity is needed for best repeatability.
 |-
 |HMA|| Homing acceleration limit|| Set the acceleration limit during homing motion || If acceleration limit is set too low, problems may arise due to long deceleration distance.

@@ Line 14: / Line 14: @@
 ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
-| SMO || SM Bus address offset || Device SimpleMotion V2 bus address will be a sum of hardware address setting and value of this parameter. SMO can be used to change device address to avoid multiple devices in same address. || Use when chaining multiple [[IONICUBE]] or [[IONICUBE 1X]] motherboards in same SM bus: in 4 axis motherboards set first SMO for frist motherboard drives to 0, second motherboard drives to 4, third's drives to 8 etc. With IONICUBE 1X, increment address by 1 for each drive. Leave to 0 if using only one IONICUBE.
+| SMO || SM Bus address offset || Device [[SimpleMotion V2]] bus address will be a sum of hardware address setting (i.e. DIP switches) and the value of this parameter. SMO can be used to change device address to avoid multiple devices in same address. || Use when chaining multiple [[IONICUBE]] or [[IONICUBE 1X]] motherboards in same SM bus: in 4 axis motherboards set first SMO for frist motherboard drives to 0, second motherboard drives to 4, third's drives to 8 etc. With IONICUBE 1X, increment address by 1 for each drive. Leave to 0 if using only one IONICUBE.
 |-
 | CM || Control mode || Select drive operating [[Control modes|control mode]] || Select Torque, Velocity or Position mode. This setting determines the meaning of setpoint signal.

@@ Line 13: / Line 13: @@
 |-
 ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
 | CM || Control mode || Select drive operating [[Control modes|control mode]] || Select Torque, Velocity or Position mode. This setting determines the meaning of setpoint signal.

@@ Line 1: / Line 1: @@
 {{SetGranityTabPageTitle|Goals}}[[File:GranityGoals.png|thumb]]
-The Goals tab in the Granity serves following purpses:
+The Goals tab in the Granity serves following purposes:
 * Choose drive [[Control modes|control mode]]
 * Choose [[setpoint signal]] and its scale
@@ Line 6: / Line 6: @@
 * Setup [[homing]]
 ==Parameters==
 ===Drive function===

@@ Line 28: / Line 28: @@
 | CRI ||  Setpoint input || Source the of [[setpoint signal]] || Choose one from Serial only [[SimpleMotion V2|SMV2]], [[Pulse and direction]], [[Quadrature]], [[PWM]] or [[Analog setpoint]]
 |-
-| CIS || Setpoint smoothing|| Low pass filtering of setpoint signal || Tick the checkbox to smoothen the setpoint signal. This is useful if setpoint is noisy or jittering. Also if using setpoint scaling greater than 100% (MUL>DIV), this may help to smoothen the motion. However, if the lowest possible latency from setpoint change to motor reaction is desired (such as in [[dual-loop feedback position control]]), leave this unticked.
+| CIS || Setpoint smoothing|| 250Hz low pass filtering of setpoint signal || Tick the checkbox to smoothen the setpoint signal. This is useful if setpoint is noisy or jittering. Also if using setpoint scaling greater than 100% (MUL>DIV), this may help to smoothen the motion. However, if the lowest possible latency from setpoint change to motor reaction is desired (such as in [[dual-loop feedback position control]]), leave this unticked, as CIS adds about 6 ms delay to setpoint reaction speed.
 |-
 | MUL ||Setpoint multiplier||rowspan=2|MUL and DIV form a fractional scaler for all setpoint signals going to the drive. These variables may be adjusted to get desired sensitivity to the setpoint change.<br><br>Total setpoint scaling effect = MUL/DIV. || Adjust MUL to change scaling of setpoint. Observe right side value to verify the scaling. <br><br>I.e. value of 100% (when MUL=DIV) will pass the setpoint unchanged through the setpoint scaler. And for example setting 200% (MUL=2xDIV) will equal doubling the amplitude of setpoint signal (i.e. in pulse train mode, one pulse equals two pulses, or in analog mode 5V equals 10V).

@@ Line 16: / Line 16: @@
 | CEN || Require software enable || Tick this option to make drive start in "disabled" state and wait an enable command over SimpleMotion V2 bus to begin operation. || Tick this if drive will be controlled over SMV2 and enable on command is desired. If unticked, drive will automatically enable on power-on if physical enable & STO input signals are in correct state.
 |-
-|CEI|| Electrical interface || Defines the electrical interface used by drive, i.e. affects the functionality of I/O pins.  ||Refer to drive user guide for different modes
+|CEI|| Electrical interface || Defines the electrical interface used by drive, i.e. affects the functionality of I/O pins.  ||Refer to drive user guide for different modes. For IONI, see [[IONI connector pinout]].
 |-
 |CEP||Require pulsing on enable input|| Activate [[charge pump enable input]]||Set true if charge pump safety feature is needed & used by [[controller]]