Servo motor torque mode test - Revision history

Esa: /* Steps */

2021-11-11T13:07:01Z

‎Steps

Tero K: /* Steps */

2017-08-28T14:33:51Z

‎Steps

Esa at 06:25, 24 August 2017

2017-08-24T06:25:55Z

Esa at 12:52, 21 August 2017

2017-08-21T12:52:58Z

Esa at 12:51, 21 August 2017

2017-08-21T12:51:16Z

Esa at 12:33, 21 August 2017

2017-08-21T12:33:52Z

Esa: Created page with "= Main idea = The servo motor torque mode test is a test to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a con..."

2017-08-02T11:28:42Z

Created page with "= Main idea = The servo motor torque mode test is a test to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a con..."

New page

= Main idea =
The servo motor torque mode test is a test to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a continuous manner.

== Assumptions ==
* All wiring are triple checked and [[Tuning torque controller | torque tuning]] is done properly.
* The motor is free to move/rotate, and no harm can happen from a long continuous movement.

== Steps ==
# Set the drive in Torque mode from [[Granity | Granity]].
#

@@ Line 18: / Line 18: @@
 # Set the {{param|TSP1}} Target setpoint 1 to 500.
 # Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
-#*When stepoint reaches 16384 or greater, the maximum current is being delivered to motor. So further increase of setpoint will not have any effect.
+#*When setpoint reaches 16384 or greater, the maximum current is being delivered to motor. So further increase of setpoint will not have any effect.
-#*If drive stops into overvelocity fault, it typically means that system works properly. However, you may increase {{param|FOV}} enough to complete the test without overvelocity fault.
+#*If drive stops into overvelocity fault, it typically means that system works properly. However, you may increase {{param|FVT}} enough to complete the test without overvelocity fault.
 # If the motor moves in a continuous manner, all parameters and wiring are correct.
 #* If the motor halts, click the "Set zero setpoint" button and follow the troubleshooting instructions below.

@@ Line 12: / Line 12: @@
 == Steps ==
 # Set the drive in Torque mode from [[Granity | Granity]]/Goals tab.
 # Go to Granity/Testing tab.
 # Make sure that the setpoint is zero and the drive is enabled and ready.
-# Set the [TSP1] Target setpoint 1 to 500.
+# Set the {{param|TSP1}} Target setpoint 1 to 500.
 # Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
 # If the motor moves in a continuous manner, all parameters and wiring are correct.
 #* If the motor halts, click the "Set zero setpoint" button and follow the troubleshooting instructions below.

← Older revision		Revision as of 06:25, 24 August 2017
Line 39:		Line 39:
	* For stepping motors, please refer to [[Using stepping motor with IONI\|stepping motor configuration instructions]].		* For stepping motors, please refer to [[Using stepping motor with IONI\|stepping motor configuration instructions]].

−	[[Category:~~Work_in_progress_pages~~]]	+	[[Category:Application]]
		+	[[Category:Motor_drives]]
		+	[[Category:Setup_guides]]
		+	[[Category:Troubleshooting]]

@@ Line 18: / Line 18: @@
 # Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
 # If the motor moves in a continuous manner, all parameters and wiring are correct.
-#* If the motor halts, click the Set zero setpoint and follow the troubleshooting instructions below.
+#* If the motor halts, click the "Set zero setpoint" button and follow the troubleshooting instructions below.
 == Troubleshooting ==
@@ Line 24: / Line 24: @@
 * Check wiring, especially logic and motor voltages, Enable, and STO.
-* Check FBI Invert feedback direction checkbox in Granity/Machine tab, and repeat the steps above.
+* Check [FBI] Invert feedback direction checkbox in Granity/Machine tab, and repeat the steps above.
 ** This inverts the encoder direction without the need for rewiring.
 * Check the motor pole count and encoder resolution from their datasheets.

@@ Line 7: / Line 7: @@
 ** Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.
 * The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement.
 {{damage|Don't use [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover] cables in SimpleMotion V2 system}}
 == Steps ==
-# Read [[Servo tuning basics | servo tuning basics]] to get understanding how servo motors work.
+# Set the drive in Torque mode from [[Granity | Granity]]/Goals tab.
-# Set the drive in Torque mode from [[Granity | Granity]].
+# Go to Granity/Testing tab.
-# Follow the [[Tuning torque controller | torque controller tuning instructions]].
+# Make sure that the setpoint is zero and the drive is enabled and ready.
-# Increase the target setpoint to get the motor moving.
+# Set the [TSP1] Target setpoint 1 to 500.
-## Go to Granity/Testing tab.
+# Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
-## Make sure that the setpoint is zero and the drive is enabled and ready.
+# If the motor moves in a continuous manner, all parameters and wiring are correct.
-## Set the [TSP1] Target setpoint 1 to 500.
+#* If the motor halts, click the Set zero setpoint and follow the troubleshooting instructions below.
-## Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
-## If the motor moves in a continuous manner, all parameters and wiring are correct.
 == Troubleshooting ==
@@ Line 29: / Line 28: @@
 * Check the motor pole count and encoder resolution from their datasheets.
 * Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.
-** The position feedback value is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).
+** The Position feedback value in Granity/Testing tab is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).
 == Further reading ==

@@ Line 1: / Line 1: @@
-= Main idea =
+== Main idea ==
-The servo motor torque mode test is a test to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a continuous manner.
+The servo motor torque mode test is a method to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a continuous manner.
 == Assumptions ==
 * All wiring are triple checked and [[Tuning torque controller | torque tuning]] is done properly.
-* The motor is free to move/rotate, and no harm can happen from a long continuous movement.
+** Refer to the product user guidebook for detailed wiring instructions.
 == Steps ==
 # Set the drive in Torque mode from [[Granity | Granity]].
+# Follow the [[Tuning torque controller | torque controller tuning instructions]].