Goals tab

The Goals tab in the Granity serves following purposes:

• Choose drive control mode
• Choose setpoint signal and its scale
• Set motion acceleration & velocity limits
• Setup homing

See also:

• Signal path of motor drive - an illustration of how drive processes various signals and parameters

Parameters

Drive function

Short GUI name	GUI name	Description	How to use
SMO	SM Bus address offset	Device SimpleMotion V2 bus address will be a sum of hardware address setting (i.e. DIP switches) and the value of this parameter. SMO can be used to change device address to avoid multiple devices in same address.	Use when chaining multiple IONICUBE or IONICUBE 1X motherboards in same SM bus: in 4 axis motherboards set first SMO for frist motherboard drives to 0, second motherboard drives to 4, third's drives to 8 etc. With IONICUBE 1X, increment address by 1 for each drive. Leave to 0 if using only one IONICUBE.
CM	Control mode	Select drive operating control mode	Select Torque, Velocity or Position mode. This setting determines the meaning of setpoint signal.
CEN	Require software enable	Tick this option to make drive start in "disabled" state and wait an enable command over SimpleMotion V2 bus to begin operation.	Tick this if drive will be controlled over SMV2 and enable on command is desired. If unticked, drive will automatically enable on power-on if physical enable & STO input signals are in correct state.
CEI	Electrical interface	Defines the electrical interface used by drive, i.e. affects the functionality of I/O pins.	Refer to drive user guide for different modes. For IONI, see IONI connector pinout.
CEP	Require pulsing on enable input	Activate charge pump enable input	Set true if charge pump safety feature is needed & used by controller

Setpoint input signal

Short GUI name	GUI name	Description	How to use
CRI	Setpoint input	Source the of setpoint signal	Choose one from Serial only SMV2, Pulse and direction, Quadrature, PWM or Analog setpoint
CIS	Setpoint smoothing	250Hz low pass filtering of setpoint signal	Tick the checkbox to smoothen the setpoint signal. This is useful if setpoint is noisy or jittering. Also if using setpoint scaling greater than 100% (MUL>DIV), this may help to smoothen the motion. However, if the lowest possible latency from setpoint change to motor reaction is desired (such as in dual-loop feedback position control), leave this unticked, as CIS adds about 6 ms delay to setpoint reaction speed.
MUL	Setpoint multiplier	MUL and DIV form a fractional scaler for all setpoint signals going to the drive. These variables may be adjusted to get desired sensitivity to the setpoint change. Total setpoint scaling effect = MUL/DIV.	Adjust MUL to change scaling of setpoint. Observe right side value to verify the scaling. I.e. value of 100% (when MUL=DIV) will pass the setpoint unchanged through the setpoint scaler. And for example setting 200% (MUL=2xDIV) will equal doubling the amplitude of setpoint signal (i.e. in pulse train mode, one pulse equals two pulses, or in analog mode 5V equals 10V).
DIV	Setpoint divider		Change DIV value if desired multiplication factor cannot be achieved by default value. Changing DIV also affects the scale of many other variables (conversion values are updated if DIV is changed). It is recommended to have DIV≥50 if possible to preserve drive's internal precision (better smoothness).
CAO	Setpoint offset nulling	Offset compensation meant to eliminate the static offset of absolute setpoint inputs (analog & PWM)	When analog or PWM setpoint source is set to 0, and setpoint seen by drive is not 0, adjust this setting to achieve 0 (use Testing tab status page to see when setpoint is near 0).
CED	Enable direction input	In analog and PWM setpoint modes, this checkbox defines how input signals are interpreted. If ticked, then an input pin of drive will decide the polairty of setpoint while the analog or PWM signal defines the amplitude. When unticked, no direction input is used, instead analog or PWM will control whole setpoint range from negative to positive.	Set according to controller outputs and wiring.

Motion dynamics - a.k.a. velocity & acceleration limits

Short GUI name	GUI name	Description	How to use
CAL	Acceleration limit	Set maximum allowed acceleration rate, effective in position & velocity modes only	The value is set as hardware units. Adjust the value and observe the right side value displaying the hardware value converted to a real world units such as revolutions/s. Make sure Machine tab settings are set-up first to get correct conversion. If external motion controller with acceleration limit (such as CNC controller) is being used, then it is advised to set CAL value to maximum of 32767 (unlimited acceleration) to enable motion tracking without delay. Setting CAL to maximum is recommended after after motor tuning is complete. Use a limited CAL acceleration value if drive is being used with pulse burst positioning or SimpleMotion V2 controller or when motor is being tuned with Granity test stimulus generator.
CVL	Velocity limit	Set maximum allowed velocity, effective in position & velocity modes only. If you're already maxed out this variable and need more range, try reducing DIV value.	The value is set as hardware units. Adjust the value and observe the right side value displaying the hardware value converted to a real world units such as revolutions/s. Make sure Machine tab settings are set-up first to get correct conversion.
CRV	Error recovery velocity	Set maximum allowed velocity of when drive is recovering from an error state and moves back to the setpoint. Effective in position mode only. If value set to 0, then no recovery motion will follow after reset errors.

Homing settings

Short GUI name	GUI name	Description	How to use
HME	Homing enabled	Control if and when internal homing function is active	Choose desired option if homing function is wanted. Homing on external command will start homing sequence by software command or via corresponding physical input signal line. Homing on power-up will initiate homing automatically once drive has been powered on.
HMT	Motor current limit during homing	Torque/force limit during all homing motion	Set this limit to prevent damage to machine if homing motion is blocked and especially when hard-stop homing is being used.
HMV	Homing velocity limit	The travel velocity during homing sequences	Set the velocity limit during homing motion. Normally a low velocity is needed for best repeatability.
HMA	Homing acceleration limit	Set the acceleration limit during homing motion	If acceleration limit is set too low, problems may arise due to long deceleration distance.
HMS	Home switch polarity	Set home switch or hard stop search direction	Select the direction of travel when home switch or hard stop is being searched by homing or choose No home switch search if only index pulse search is needed.
HSS	Home switch source	Select which input pin will be used for reading home switch state	Some drives support selecting physical input pin for home switch. Use drop down menu to select according to your wiring.
HMH	Hard stop detection threshold	The sensitivity of hard stop detection, lower value is more sensitive. Only meaningful when HMS is enabled.	This is the position tracking error level which will cause hard stop detection. This value must be smaller than FPT to avoid tracking error fault. If electromechanical home switch is being used, set this value 0 to disable hard stop detection. Even when HMH is enabled, the home switch input will remain active. Home switch / hard stop will stop on the event that occurs first: home switch input pin state change, or increase of position tracking error beyond the HMH parameter value threshold.
HSA	Second approach distance	Optional precision increasing run for home switch or hard stop search	Second approach, if enabled by setting non-zero value, will perform home switch or hard stop detection again with reduced velocity. To enable, enter a position value where axis shall move to begin the second home switch or hard stop approach.
HMI	Index pulse search	Configure feedback device index pulse search	If enabled, drive will search for index pulse coming to feedback device port. Used for precise home position search. Leave disabled if only home switch/hardstop homing is needed. If both HMS and HMI are enabled, then drive will first perform home switch/hard-stop search and then index pulse search.
HMF	Offset home after homing	The distance to move after home switch/hard-stop/index pulse searches are complete	Set this value non-zero if it's desired to set zero position out of it's default position, i.e. in the middle of axis.
HFO	Full speed offset move	Set speed when doing offset move HMF	If ticked, then CVL will be used as velocity limit for HMF, otherwise HMV limit will be used.
HAP	Apply absolute feedback device reading	Checkbox to enable utilization of absolute encoder information during homing	Checking the checkbox will read absolute encoder absolute position, and set that value as current position after other homing steps are finished. If absolute encoder covers full motion range (i.e. multi turn absolute encoder), then this may be the sufficient step in homing alone. In this case HAP can replace home switch and index pulse search, and achieve homed state right after power-on without any motion. If absolute encoder does not cover full motion range (i.e. single turn abs. encoder), then it may be necessary to enable also home switch or hard stop search feature. In this case HAP can replace index pulse search. Note usage of HAP requires absolute encoder in the system (i.e. BiSS or SSI encoder).
HAO	Absolute encoder offset nulling	Allow nulling the offset of absolute encoder position.	When HAP is enabled, the homed position will reflect to the raw position provided by the absolute encoder. HAO will allow adjusting the absolute encoder offset so that zero (or any other value) is present at user wanted position, instead of the raw encoder position.
HLL	Position soft low limit	Soft travel limit in negative direction, may be used to eliminate limit switches	Set this value to the lowest absolute position where axis is permitted to move. Set HLL and HHL as 0 to disable soft travel limit (allows infinite motion in both directions, or use mechanical limit switches).
HHL	Position soft high limit	Soft travel limit in positive direction, may be used to eliminate limit switches	Set this value to the highest absolute position where axis is permitted to move. Set HLL and HHL as 0 to disable soft travel limit (allows infinite motion in both directions, or use mechanical limit switches).

Homing buttons

• Start homing now - starts homing motion if drive is in enabled state, use for testing the settings
• Abort homing - attempts to stop the homing motion instantly

See also

• Homing
• Hard-stop homing

Stopping & braking settings

Short GUI name	GUI name	Description	How to use
BDD	Dynamic braking deceleration	Sets the dynamic braking based deceleration rate on the event of drive disable or fault stop.	Set-up a testing motion (such as continuous position or velocity motion from Testing tab) and try hitting Escape-key to disable drive and observe the motor deceleration rate. If faster deceleration is desired, increase the value and vice versa. Approximate deceleration times at various values: 1 = 1.6 seconds 2 = 0.8 seconds 4 = 0.4 seconds 8 = 0.2 seconds 16 = 0.1 seconds
BED	Mechanical brake engage delay	The delay from drive disable or fault stop to engagement of electromechanical brake	Meaningful parameter only if drive brake output is being wired to a mechanical brake. Suggested to adjust this to match the deceleration time on [BDD]. If brake is slow acting, try shorter delay to compensate.
BAP	Mechanical brake assisted phasing	Controls mechanical brake assisted phasing a.k.a. phase search of AC/BLDC motors without Hall sensors	When using AC/BLDC motor without Hall-sensors on a vertical axis that may be pulled down by gravity, this setting may prevent the problem of axis falling before motor is being phased or initialized. Ticking this setting will keep mech brake on at the beginning of phasing to prevent axis gravity fall. If unsure whether needed, leave un-ticked.

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