Granity user guide/Machine - Revision history

Esa: /* Motor parameters */

2018-11-19T07:21:38Z

‎Motor parameters

Tero K: fbd choices

2016-09-08T23:46:41Z

fbd choices

Tero K: /* Motor parameters */

2016-06-28T16:29:22Z

‎Motor parameters

Tero K: /* Position feedback device */

2015-05-03T21:44:17Z

‎Position feedback device

Tero K: /* Motor parameters */

2015-05-01T13:07:26Z

‎Motor parameters

Tero K at 10:31, 30 March 2015

2015-03-30T10:31:45Z

Tero K: /* Motor parameters */

2014-07-22T11:58:16Z

‎Motor parameters

Tero K: /* Position feedback device */

2013-10-23T12:31:09Z

‎Position feedback device

Tero K: /* Motor parameters */

2013-09-27T21:42:36Z

‎Motor parameters

Tero K: /* Axis mechanics */

2013-09-18T18:03:32Z

‎Axis mechanics

@@ Line 25: / Line 25: @@
 * If motor is linear type, see [[configuring linear servo motor]]
 * If motor is stepping motor, see [[Using stepping motor with IONI]]
 |-
 | MPC || Pole count || Set motor magnetic pole count (not in DB motors)  || Set number of magnetic poles present in the AC/BLDC motor according to motor specifications. If not specified, see [[Determining motor pole count]] or in case of linear motor, see [[Configuring linear servo motor]].

@@ Line 51: / Line 51: @@
 ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
-| FBD || [[Feedback devices|Feedback device]]  || Position feedback device type attached to the axis || Choose connected device type. Use only the ones that are [[Argon specifications|currently supported]] in the firmware. Currently only Quadrature encoder 1 is supported.
+| FBD || [[Feedback devices|Feedback device]]  || Position feedback device type attached to the axis || Choose connected device type. Refer to your drive specifications for supported feedback device choices. Note that if unsupported FBD is selected, drive will indicate an error and refuses to initialize.
 |-
 | FBR || Feedback device resolution || Resolution of the feedback device per revolution || In case of [[quadrature]] encoder choose number of lines or pulses per revolution. Make sure to enter resolution of feedback device ''before'' 4x quadrature decoding (encoder real resolution is 4 times the number of lines per revolution).

@@ Line 28: / Line 28: @@
 | MPC || Pole count || Set motor magnetic pole count (not in DB motors)  || Set number of magnetic poles present in the AC/BLDC motor according to motor specifications. If not specified, see [[Determining motor pole count]] or in case of linear motor, see [[Configuring linear servo motor]].
 |-
-| MCC || [[Motor peak and continuous current limits|Continuous current limit]] || Motor continuous current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS)|| rowspan=2|Use value from your motor data sheet or any lower value to reduce torque. If your AC/BLDC motor phase current is specified as RMS value, then multiply it with 1.41 to get peak value of sine.
+| MCC || [[Motor peak and continuous current limits|Continuous current limit]] || Motor continuous current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS)|| rowspan="2" |Use value from your motor data sheet or any lower value to reduce torque. If your AC/BLDC motor phase current is specified as RMS value, then multiply it with 1.41 to get peak value of sine.
 |-
 | MMC || [[Motor peak and continuous current limits|Peak current limit]] || Motor peak current limit ([[Peak value of sine|peak value of sine]] in AC/BLDC modes, not RMS). Drive outputs this current to motor for max of 2 second duration and then falls back to the continuous limit (MCC). MCC will be also used if motor temperature modeling (see MTC) indicates maximum temperature.
 |-
-| MR || Coil resistance || Motor [[phase-to-phase]] winding resistance|| rowspan=2|See motor data sheet and enter the value here. If unknown, see [[Tuning torque controller]].
+| MR || Coil resistance || Motor [[phase-to-phase]] winding resistance|| rowspan="2" |See motor data sheet and enter the value here. If unknown, see [[Tuning torque controller]].
 |-
 | ML || Coil inductance ||Motor [[phase-to-phase]] winding inductance
@@ Line 39: / Line 39: @@
 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.
 |}

@@ Line 51: / Line 51: @@
 If limited motion range and [[Tracking error|tracking error fault]] after certain travel distance is observed, try dividing this parameter value by 4 or multiplying by 4.
 |-
 | FBI || Invert feedback direction || Set polarity of feedback device counting direction || 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.

@@ Line 22: / Line 22: @@
 ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
-| MT || Motor type || Motor type to be driven  || Choose your [[motor types|motor type]]. If motor is linear type, see [[configuring linear servo motor]].
+| MT || Motor type || Motor type to be driven  || Choose your [[motor types|motor type]].
 |-
 | MPC || Pole count || Set motor magnetic pole count (not in DB motors)  || Set number of magnetic poles present in the AC/BLDC motor according to motor specifications. If not specified, see [[Determining motor pole count]] or in case of linear motor, see [[Configuring linear servo motor]].

@@ Line 54: / Line 54: @@
 | FBH || [[Feedback devices|Hall sensors]] || Configure Hall sensors if available || If motor Hall sensors are connected and wires, choose option from the list to utilize them.
 |}
+{{next|[[Granity user guide/Tuning]]}}
 [[Category:Granity user guide]]

@@ Line 14: / Line 14: @@
 |  AXS|| Axis scale || Set axis travel per motor revolution || Determine how much your axis moves per revolution and enter it here. I.e. if you have selected ''Linear[mm]'' as AXT, then calculate and enter how many millimeters axis moves per revolution. AXT and AXS affect only the [[Granity unit conversion|unit conversion of Granity]] parameters (such as accel/velocity limit unit conversions), no effect on drive operation.
 |-
-| AXT|| Invert direction || Set the positive direction of axis||State of this checkbox determines which rotation/travel direction is positive and which negative. Change this to invert the direction of axis.
+| AXI|| Invert direction || Set the positive direction of axis||State of this checkbox determines which rotation/travel direction is positive and which negative. Change this to invert the direction of axis.
 |}