Using stepping motor with IONI - Revision history

Tero K at 21:31, 14 February 2022

2022-02-14T21:31:51Z

Tero K: mode 2 new info

2016-09-07T17:35:06Z

mode 2 new info

Tero K at 10:56, 4 August 2016

2016-08-04T10:56:23Z

Tero K: vibration reduction ohje

2016-08-04T10:54:46Z

vibration reduction ohje

Tero K at 22:27, 3 August 2016

2016-08-03T22:27:42Z

Tero K: /* Setting up closed loop mode 2 */ fix

2016-05-19T12:53:07Z

‎Setting up closed loop mode 2: fix

Tero K: /* Seting up closed loop mode 2 */

2016-05-19T12:51:14Z

‎Seting up closed loop mode 2

Tero K: remove param template

2015-08-28T20:57:03Z

remove param template

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

2015-08-28T11:57:55Z

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

Tero K: Undo revision 4413 by Tero K (talk)

2015-08-28T11:57:04Z

Undo revision 4413 by Tero K (talk)

@@ Line 11: / Line 11: @@
 ==Setting up open loop mode 1==
 In this mode, drive emulates encoder internally and some tuning parameters need to be set to allow operation:
 ;[[MT]] Motor type

@@ Line 64: / Line 64: @@
 :Set your feedback device resolution
 ;[[KVI]] and [[KPP]]
-:Tune KVI and KPP values (and possibly other gains if non-zero) to have nice response
+:Tune KVI, VFF, and KPP values (and possibly other gains if non-zero) to have nice response
 ;[[FMO]] Motion fault limit
 :Set non-zero value (perhaps 100-1000) to cause a fault state when motor stalls
 ==Setting up servo mode 3==
 To set-up stepper as servo motor, just follow the [[IONI & IONICUBE user guide]] and consider the stepper motor as servo motor. For a typical 1.8 degree/step two-phase stepping motor the correct motor type parameters are:
@@ Line 73: / Line 75: @@
 :2 Phase AC or BLDC
 ;[[MPC]] Pole count
-:100      [[Category:IONI_user_guide]]     [[Category:Setup_guides]]
+:100
 == Optional: reducing motor vibration and noise ==
@@ Line 86: / Line 88: @@
 # Some motors also benefit from using third harmonic of this setting, Sin(12x) which may be enabled by setting it as TRF2 and doing same procedure for finding the optimum TRA2 value.
 '''Note:''' some motors do not receive significant benefit of these settings. In such case, it's recommended to leave these settings disabled (TRF1 & TRF2 = None and TRA1 & TRA2 = 0) to avoid making the smoothness actually worse.

@@ Line 73: / Line 73: @@
 :2 Phase AC or BLDC
 ;[[MPC]] Pole count
-:100     [[Category:IONI_user_guide]]    [[Category:Setup_guides]]
+:100      [[Category:IONI_user_guide]]     [[Category:Setup_guides]]
-== Reducing motor vibration and noise ==
+== Optional: reducing motor vibration and noise ==
 IONI firmware 1.5.2 and later supports reduction of stepping motor vibration and noise by the means of parameters TRF1, TRA1, TRF2, and TRA2.

@@ Line 56: / Line 56: @@
 ==Setting up closed loop mode 2==
-In this mode, follow parameterization of open loop mode (mode 1) except:
+In this mode, follow parametrization of open loop mode (mode 1) except:
 ;[[FBD]] Feedback device
 :Choose your feedback device (other than None)
@@ Line 73: / Line 73: @@
 :2 Phase AC or BLDC
 ;[[MPC]] Pole count
-:100    [[Category:IONI_user_guide]]   [[Category:Setup_guides]]
+:100     [[Category:IONI_user_guide]]    [[Category:Setup_guides]]

@@ Line 33: / Line 33: @@
 :0
 ;[[KVI]] Velocity I gain
-:900
+:700
 ;[[AFF]] and [[VFF]]
 :0
 ;[[KPP]] Position P gain
-:150
+:10000
 ;[[PFF]] Position feed-forward gain
 :100%
@@ Line 48: / Line 48: @@
 {{tip|Use Granity's ''Measure resistance & inductance'' button to automatically set MR and ML}}
-{{download|To save time, you may load [[Media:IONIStepperSettingsTemplate2.drc|this template settings file]] to drive. '''Usage:''' connect to the drive with Granity, and click ''Load settings from file''. After loading the file, just set motor current limits MMC and MCC to match your motor. After saving & restarting drive, use ''Measure resistance & inductance'' button to automatically set MR and ML. }}
+{{download|To save time, you may load [[Media:IONIStepperSettingsTemplate3.drc|this template settings file]] to drive. '''Usage:''' connect to the drive with Granity, and click ''Load settings from file''. After loading the file, just set motor current limits MMC and MCC to match your motor. After saving & restarting drive, use ''Measure resistance & inductance'' button to automatically set MR and ML. }}
-'''NOTE:''' these values and settings apply from '''firmware version 1.2.1 (1064)'''. For older firmware version, check out earlier version of this page [http://granitedevices.com/w/index.php?title=Using_stepping_motor_with_IONI&oldid=4026 here].
+'''NOTE:''' these values and settings apply from '''firmware version 1.5.2''' (1096). For older firmware version settings, see:
 ==Setting up closed loop mode 2==
@@ Line 71: / Line 73: @@
 :2 Phase AC or BLDC
 ;[[MPC]] Pole count
-:100   [[Category:IONI_user_guide]]  [[Category:Setup_guides]]
+:100    [[Category:IONI_user_guide]]   [[Category:Setup_guides]]

@@ Line 12: / Line 12: @@
 ==Setting up open loop mode 1==
 In this mode, drive emulates encoder internally and some tuning parameters need to be set to allow operation:
-;{{param|MT}} Motor type
+;[[MT]] Motor type
 :Stepping motor
-;{{param|FBD}} Feedback device
+;[[FBD]] Feedback device
 :None
-;{{param|FBI}} Invert feedback direction
+;[[FBI]] Invert feedback direction
 :Unticked
-;{{param|FBR}} Feedback device resolution
+;[[FBR]] Feedback device resolution
 :6400 (this is the emulated encoder resolution, 6400 PPR = 25600 steps/rev)
-;{{param|MCC}} Motor continuous current
+;[[MCC]] Motor continuous current
 :This is the resting current when motor stands still. Drive will switch to this after 0.5 seconds of standing still.
-;{{param|MMC}} Motor peak current limit
+;[[MMC]] Motor peak current limit
 :This is the motor rated current that is used when motor is rotating.
-;{{param|MR}} Motor coil resistance
+;[[MR]] Motor coil resistance
 :See motor datasheet or if not known, start with low values such as 1 ohm
-;{{param|ML}} Motor coil inductance
+;[[ML]] Motor coil inductance
 :See motor datasheet or if not known, start with low values such as 1 mH
-;{{param|CM}} Control mode
+;[[CM]] Control mode
 :Set to Position control (typical) or Velocity control mode
-;{{param|KVP}} Velocity P gain
+;[[KVP]] Velocity P gain
 :0
-;{{param|KVI}} Velocity I gain
+;[[KVI]] Velocity I gain
 :900
-;{{param|AFF}} and {{param|VFF}}
+;[[AFF]] and [[VFF]]
 :0
-;{{param|KPP}} Position P gain
+;[[KPP]] Position P gain
 :150
-;{{param|PFF}} Position feed-forward gain
+;[[PFF]] Position feed-forward gain
 :100%
-;{{param|FEV}} Over speed fault
+;[[FEV]] Over speed fault
 :1000
-;{{param|FPT}} and {{param|FVT}} fault limits
+;[[FPT]] and [[FVT]] fault limits
 :1000
-Other settings are not critical and can be configured as desired (such as acceleration and velocity limits). If setpoint scaling is 1:1 ({{param|MUL}}={{param|DIV}}), then this mode yields resolution of 25600 steps/revolution. If reduction of resolution is required, then adjust scaling accordingly (if scaling is set above 4:1, then try also Setpoint smoothing {{param|CIS}}).
+Other settings are not critical and can be configured as desired (such as acceleration and velocity limits). If setpoint scaling is 1:1 ([[MUL]]=[[DIV]]), then this mode yields resolution of 25600 steps/revolution. If reduction of resolution is required, then adjust scaling accordingly (if scaling is set above 4:1, then try also Setpoint smoothing [[CIS]]).
 {{tip|Use Granity's ''Measure resistance & inductance'' button to automatically set MR and ML}}
@@ Line 55: / Line 55: @@
 ==Seting up closed loop mode 2==
 In this mode, follow parameterization of closed loop mode except:
-;{{param|FBD}} Feedback device
+;[[FBD]] Feedback device
 :Choose your feedback device (other than None)
-;{{param|FBI}} Invert feedback direction
+;[[FBI]] Invert feedback direction
 :Try both settings and choose the one with stability
-;{{param|FBR}} Feedback device resolution
+;[[FBR]] Feedback device resolution
 :Set your feedback device resolution
-;{{param|KVI}} and {{param|KPP}}
+;[[KVI]] and [[KPP]]
 :Tune KVI and KPP values (and possibly other gains if non-zero) to have nice response
-;{{param|FMO}} Motion fault limit
+;[[FMO]] Motion fault limit
 :Set non-zero value (perhaps 100-1000) to cause a fault state when motor stalls
 ==Setting up servo mode 3==
 To set-up stepper as servo motor, just follow the [[IONI & IONICUBE user guide]] and consider the stepper motor as servo motor. For a typical 1.8 degree/step two-phase stepping motor the correct motor type parameters are:
-;{{param|MT}} Motor type
+;[[MT]] Motor type
 :2 Phase AC or BLDC
-;{{param|MPC}} Pole count
+;[[MPC]] Pole count
 :100
 [[Category:IONI_user_guide]]
 [[Category:Setup_guides]]