IONI & IONICUBE user guide/Drive parameterization - Revision history

Tero K: /* Drive fault limits */

2016-09-21T21:34:30Z

‎Drive fault limits

Tero K at 01:04, 2 November 2015

2015-11-02T01:04:20Z

Tero K at 01:01, 2 November 2015

2015-11-02T01:01:53Z

Tero K at 01:00, 2 November 2015

2015-11-02T01:00:06Z

Tero K: edit text after param template

2015-08-28T23:33:02Z

edit text after param template

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

2015-08-28T20:11:43Z

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

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

2015-08-28T19:54:30Z

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

Show changes

Tero K at 14:28, 28 June 2015

2015-06-28T14:28:49Z

Tero K: /* Motor */

2015-06-03T13:12:19Z

‎Motor

Tero K: /* Motor */

2015-06-03T13:11:55Z

‎Motor

@@ Line 46: / Line 46: @@
 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 [[HV DC bus]] supply voltage. Set FOV value at least 10% higher than nominal HV DC bus voltage. Examples:
+#Set {{param|FOV}} following way depending on your [[HV DC bus]] supply voltage. Set FOV value at least 10% higher than nominal HV DC bus voltage. For detailed guide of understanding FUV and FOV parameters, see page [[Configuring drive voltage limits FUV and FOV]]. Examples:
 ##24 VDC regulated power supply, try value of 32 VDC
 ##48 VDC regulated power supply, try value of 54 VDC
@@ Line 56: / Line 56: @@
 {{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.}}
 {{info|Overvoltage limit parameter FOV also determines the voltage level when drive starts driving current to the [[regenerative resistor]]. If you experience constant heating of the resistor, increase FUV value.}}
 ====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.

@@ Line 2: / Line 2: @@
 This article will describe how to set-up IONI parameters with [[Granity]] to make motor operational and ready for [[Servo motor tuning guide|servo tuning]].
 ==Preparations and connection==
-[[File:ionicube_tuningsetup.png|thumb|400px|Minimum setup for drive & motor configuration stages]]As the goal is to parameterize and make motor operational, we should have:
+As the goal is to parameterize and make motor operational, we should have:
 # The drive and motor fully wired. However it's not required to have controller or braking resistor connected at this point.
 # Be familiar with the operation and parameters of [[Granity]]. Make sure you have read [[Granity user guide]].
 # Granity connection working. See [[IONI & IONICUBE user guide/Making the first Granity connection]]
 ==Walk-through of initial parametrization==
 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.

@@ Line 2: / Line 2: @@
 This article will describe how to set-up IONI parameters with [[Granity]] to make motor operational and ready for [[Servo motor tuning guide|servo tuning]].
 ==Preparations and connection==
-As the goal is to parameterize and make motor operational, we should have:
+[[File:ionicube_tuningsetup.png|thumb|400px|Minimum setup for drive & motor configuration stages]]As the goal is to parameterize and make motor operational, we should have:
 # The drive and motor fully wired. However it's not required to have controller or braking resistor connected at this point.
 # Be familiar with the operation and parameters of [[Granity]]. Make sure you have read [[Granity user guide]].
 # Granity connection working. See [[IONI & IONICUBE user guide/Making the first Granity connection]]
 ==Walk-through of initial parametrization==
 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.

@@ Line 6: / Line 6: @@
 # Be familiar with the operation and parameters of [[Granity]]. Make sure you have read [[Granity user guide]].
 # Granity connection working. See [[IONI & IONICUBE user guide/Making the first Granity connection]]
 ==Walk-through of initial parametrization==
 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.

@@ Line 8: / Line 8: @@
 ==Walk-through of initial parametrization==
 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]]. If setting up a '''stepping motor''' instead of servo motor, see [[Using stepping motor with IONI]].
+#Choose motor type from the drown down list {{param|MT}}. If motor is linear type, see [[configuring linear servo motor]]. If setting up a '''stepping motor''' instead of servo motor, see [[Using stepping motor with IONI]].
-#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 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.
-#Setting coil resistance {{param|MR}} and inductance {{param|ML}} values are required for proper drive operation. Do this by using the [[Measure motor resistance and inductance in Granity|Granity's measurement function]] after drive is enabled and operating the first time. If this method fails, perform [[Tuning torque controller]] manually after initial parameters are set or find motor inductance & resistance values from your motor data sheet.
+#Setting motor {{param|MR}} and {{param|ML}} values are required for proper drive operation. Do this by using the [[Measure motor resistance and inductance in Granity|Granity's measurement function]] after drive is enabled and operating the first time. If this method fails, perform [[Tuning torque controller]] manually after initial parameters are set or find motor inductance & resistance values from your motor data sheet.
 {{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.}}
@@ Line 32: / Line 32: @@
 ====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 ([[Hall sensors|see when]]).
+#Leave the Hall sensors Off from parameter {{param|FBH}} during initial setup. Enable later if necessary ([[Hall sensors|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 55: / Line 55: @@
 ====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.
+#Goal {{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 {{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 {{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 70: / Line 70: @@
 ##If no physical enable signal is wired, you may click Force enable drive from Connect tab to temporarily enable without physical signal. Note that Force enable will release (inactivate) if any of following physical inputs change state: Enable, Limit switches or Home switch.
 #[[STO]]2 input is powered
-#Motor type {{param|MT}} is configured
+#{{param|MT}} is configured
-#If Requires software enable {{param|CEN}} is enabled, then also click Soft enable drive from Connect tab
+#If {{param|CEN}} is enabled, then also click Soft enable drive from Connect tab
 ==Servo motor tuning==

@@ Line 1: / Line 1: @@
-{{SetIUGTitle|parameterization}}{{IoniManualNav}}
+{{SetIUGTitle|parameterization}}{{IoniManualNav}}{{parent|IONI & IONICUBE user guide}}
 This article will describe how to set-up IONI parameters with [[Granity]] to make motor operational and ready for [[Servo motor tuning guide|servo tuning]].
 ==Preparations and connection==
@@ Line 84: / Line 84: @@
 #Set-up [[homing]] if required by application
 {{next|[[Granity user guide]]}}
-[[Category:IONI user guide]]
-[[Category:Pages needing update after FW upgrades]]
+[[Category:IONI_user_guide]]

@@ Line 21: / Line 21: @@
 ====Motor====
 Find motor parameters from the motor data sheet/manufacturer specifications.
-#Choose motor type from the drowndown list [[MT]]. If motor is linear type, see [[configuring linear servo motor]]. If setting up a '''stepping motor''', see [[Using stepping motor with IONI]].
+#Choose motor type from the drowndown list [[MT]]. If motor is linear type, see [[configuring linear servo motor]]. If setting up a '''stepping motor''' instead of servo motor, see [[Using stepping motor with IONI]].
 #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