Granity user guide/Testing - Revision history

Tero K: using templates for status and fault bits

2017-06-16T14:22:42Z

using templates for status and fault bits

Tero K: /* Status */

2017-03-04T20:22:58Z

‎Status

Tero K: /* Status */

2016-11-12T13:11:03Z

‎Status

Tero K: /* Status */

2016-11-12T13:08:09Z

‎Status

Tero K: readings updated

2016-09-08T21:31:49Z

readings updated

Tero K: /* Set Abs and Set Inc buttons */

2016-01-05T22:41:00Z

‎Set Abs and Set Inc buttons

Tero K: /* Set Abs and Set Inc buttons */

2016-01-05T22:40:43Z

‎Set Abs and Set Inc buttons

Tero K: Text replacement - "{{param|EMI}}" to "EMI"

2015-08-28T19:59:06Z

Text replacement - "{{param|EMI}}" to "EMI"

Tero K: Text replacement - "{{param|GUI}}" to "GUI"

2015-08-28T19:54:58Z

Text replacement - "{{param|GUI}}" to "GUI"

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

2015-08-28T19:54:17Z

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

@@ Line 52: / Line 52: @@
 Devices state updates continuously while connected and shows status & fault register bits as well as state of physical I/O lines and setpoint value.
-===Status===
+===Status bits===
-{| class="wikitable"
+{{Template:DriveStatusbits}}
-|-
-! Name !! Description !! Troubleshooting
-|-
-| Initialized || True when drive has completed initialization procedure (such as [[Phasing a.k.a. phase search|phasing]]) || If never goes on, check parameters, drive input voltage, [[safe torque off]] and enable inputs and possible faults.
-|-
-| Error recovering || True when drive performs position return to the setpoint position after clear faults command is given ||
-|-
-| Tracking error warn || Indicates that tracking error has increased beyond certain point. On most drives this controls a digital output pin that may be used in conjunction with [[controller]] to mitigate a tracking error problem before a tracking error fault is triggered. Operation depends on operating mode:
-* Position mode: true when position tracking error is greater than 1/8 of {{param|FPT}}
-* Velocity mode: true when velocity tracking error is greater than 1/8 of {{param|FVT}}
-* Torque mode: true when actual torque differs from torque setpoint more than 1/4 of {{Param|MMC}}. This is not present in {{G2.0}}, and on that drive it will always read ''false''.
-||
-|-
-| Target reached || True when drive's internal motion profiler (velocity & acceleration limited motion) has reached the user setpoint value||
-|-
-| Enabled || True when drive has enabled state on. This allows drive to control motor if no faults are active.||
-|-
-| Run || True when drive is initializing or controlling motor. Goes false if enabled is false or faults are active||
-|-
-|Homing active|| True when drive is performing homing sequence. Goes false after homing is complete or not enabled||
-|-
-| Braking|| True when motor is being braked electrically and/or mechanically||
-|-
-| Permanent stop|| True when drive requires restart before continuing motor control. Goes true when changing certain parameters or if initialization fails|| Restart drive to see if the state clears. If not, check parameterization and usage errors.
-|-
-|Voltages good|| True when [[HV DC bus]] voltage is withing configured range (from {{param|FUV}} to {{param|FOV}})||
-|-
-| Fault stopped|| True when drive is disabled true to active fault state|| Perform clear drive faults function (from Connect tab). If problem repeats, check motor & tuning parameters and operating conditions. See fault register and fault location for hints.
-|-
-|Ready for use|| True when drive has performed all initializations, possible homing and is enabled and running. When true, drive is ready to follow user setpoint commands||
-|-
-|STO active||True when [[Safe torque off|safe torque off]] is active. In Argon this monitors only STO2.||
-|}
 === Readings ===
@@ Line 121: / Line 88: @@
 |}
-===Fault register===
+===Fault register bits===
-{| class="wikitable"
+{{Template:DriveFaultbits}}
-|-
-! Name !! Description !! Troubleshooting
-|-
-|Tracking error || Drive stopped due to position or velocity tracking error getting larger than configured limit ({{param|FPT}} or {{param|FVT}})|| Check settings, operating conditions and fault limits to resolve.
-|-
-|Over velocity||Motor has exceeded the speed limit defined at {{param|FEV}}||
-|-
-|Hardware||Drive internal error has occurred||Possibly external interference (check wiring and [[EMI]] suppression) and stability of logic supply voltage. If problem stays, contact [[Granite Devices support]].
-|-
-|Over temperature||Drive temperature has exceeded its maximum value||
-|-
-|Feedback||Failure in feedback device has been detected||
-|-
-|Over current||Measured current was exceeding the limit value (current spike)||Check wiring or try different {{param|FOC}} value
-|-
-|Internal comm error||Drive internal error has occurred||Possibly external interference (check wiring and [[EMI]] suppression) and stability of logic supply voltage. If problem stays, contact [[Granite Devices support]].
-|-
-|Power stage forced off||True when some of the fault states is forcing power stage off to protect drive. Motor is freely spinning unless braked mechanically.||
-|-
-|Under voltage || [[HV DC bus]] voltage below {{param|FUV}} value|| Check voltage, parameters and [[Safe torque off|safe torque off]]
-|-
-|Over voltage||[[HV DC bus]] voltage above {{param|FOV}} value|| Check voltage and {{param|FOV}}. If happens during motor deceleration, then a [[Argon user guide/Braking resistor|braking resistor]] is needed.
-|-
-|Motion range||Motor has been commanded outside the allowed travel boundary. I.e. driven to limit switch when {{param|LFS}} is set to fault stop||
-|-
-|Firmware error||Drive internal error has occurred||Possibly external interference (check wiring and [[EMI]] suppression) and stability of logic supply voltage. If problem stays, contact [[Granite Devices support]].
-|-
-|Init||Initialization failed. Possible reasons: drive disabled or faulted during initialization or initialization time-outed||Check enable signal, parameters, wiring and faults
-|-
-|Motion||Motor stall or loss of feedback signal detected||Adjust {{param|FMO}} to larger value or disable it
-|-
-|SimpleMotion||[[SimpleMotion V2]] Communication error detected, possibly connection lost, invalid parameter value is sent or transfer error caused by [[EMI]] or bad wiring ||
-|-
-|Fault location ID||See [[Fault location]]||
-|}
-−
 ==Troubleshooting==
 *[[Fault location]] helps to identify the source of faults if nonzero

@@ Line 64: / Line 64: @@
 * Position mode: true when position tracking error is greater than 1/8 of {{param|FPT}}
 * Velocity mode: true when velocity tracking error is greater than 1/8 of {{param|FVT}}
-* Torque mode: true when actual torque differs from torque setpoint more than 1/4 of {{Param|MMC}}. This is not present in [[ARGON Servo Drive]], and on that drive it will always read ''false''.
+* Torque mode: true when actual torque differs from torque setpoint more than 1/4 of {{Param|MMC}}. This is not present in {{G2.0}}, and on that drive it will always read ''false''.
 ||
 |-

@@ Line 61: / Line 61: @@
 | Error recovering || True when drive performs position return to the setpoint position after clear faults command is given ||
 |-
-| Tracking error warn || Indicates that tracking error has increased beyond certain point. Operation depends on operating mode:
+| Tracking error warn || Indicates that tracking error has increased beyond certain point. On most drives this controls a digital output pin that may be used in conjunction with [[controller]] to mitigate a tracking error problem before a tracking error fault is triggered. Operation depends on operating mode:
 * Position mode: true when position tracking error is greater than 1/8 of {{param|FPT}}
 * Velocity mode: true when velocity tracking error is greater than 1/8 of {{param|FVT}}

@@ Line 61: / Line 61: @@
 | Error recovering || True when drive performs position return to the setpoint position after clear faults command is given ||
 |-
-| Tracking error warn || True when position or velocity tracking error is greater than 1/8 of fault limit ({{param|FPT}} or {{param|FVT}}) ||
+| Tracking error warn || Indicates that tracking error has increased beyond certain point. Operation depends on operating mode:
 |-
 | Target reached || True when drive's internal motion profiler (velocity & acceleration limited motion) has reached the user setpoint value||

@@ Line 26: / Line 26: @@
 |TSE||Enable test stimulues|| Control test stimulus feed || Tick this checkbox to instantly start feeding test stimulus to the drive. Before ticking ensure that setpoints are set to safe levels and always be prepared stop motor safely if unexpected motion happens.
 |-
-|Example where <br>TSD1=0.1s<br> TSD2=0.5s<br> TSP1=1000→0.18A<br> TSP2=-500→-0.09A||colspan=3|<center>[[File:Stimulusgraph m.png]]</center>
+|Example where <br>TSD1=0.1s<br> TSD2=0.5s<br> TSP1=1000→0.18A<br> TSP2=-500→-0.09A|| colspan="3" |<center>[[File:Stimulusgraph m.png]]</center>
 |}
 ===Jogging===
@@ Line 84: / Line 84: @@
 |}
 {| class="wikitable"
 |-
@@ Line 89: / Line 90: @@
 |-
 | HV bus voltage || A measured [[HV DC bus]] voltage. If drive is supplied by AC voltage, then this should be approximately 1.41 times AC RMS voltage.
 |-
 |Output current|| Actual measured motor current
 |-
-|Velocity feedback||Actual measured velocity of motor (hardware scale)
+|Velocity feedback (raw)
 |-
 |Position feedback ||Actual measured position of motor (hardware scale/encoder counts)

@@ Line 28: / Line 28: @@
 |Example where <br>TSD1=0.1s<br> TSD2=0.5s<br> TSP1=1000→0.18A<br> TSP2=-500→-0.09A||colspan=3|<center>[[File:Stimulusgraph m.png]]</center>
 |}
-===Set Abs and Set Inc buttons===
+===Jogging===
 '''Set Abs''' or '''Absolute set TSPx''' button set the TSP1 or TSP2 value immediately as setpoint.

@@ Line 29: / Line 29: @@
 |}
 ===Set Abs and Set Inc buttons===
-'''Set Abs''' button set the TSP1 or TSP2 value immediately as setpoint.
+'''Set Abs''' or '''Absolute set TSPx''' button set the TSP1 or TSP2 value immediately as setpoint.
 ==Capture & graphs==
 ===Capture controls===

@@ Line 14: / Line 14: @@
 {| class="wikitable"
 |-
-! Short {{param|GUI}} name !! {{param|GUI}} name !! Description !! How to use
+! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
 |TSP1||Target setpoint 1|| The first setpoint level || Adjust the value and observe the right side value conversion to the real world units such as amperes or millimeters.