Testing tab

This tab serves following purposes:

• Running repeating test sequence on motor
• Capturing reference signal & feedback graphs from drive

See also:

• Drive fault handling

Test stimulus generator

Test stimulus as numeric parameters and it's graphical representation

Test stimulus generator is a way to feed a repeating setpoint signal to the drive without having any other physical signals supplied. Test stimulus generates a square waveform with user specified amplitudes and timing.

The waveform generated is specified by 4 parameters:

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.
TSD1	Delay 1	The active duration of the first setpoint	Set the duration of the first setpoint lenght.
TSP2	Target setpoint 2	The second setpoint level	Adjust the value and observe the right side value conversion to the real world units such as amperes or millimeters.
TSD2	Delay 2	The active duration of the second setpoint	Set the duration of the second setpoint length.
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 TSD1=0.1s TSD2=0.5s TSP1=1000→0.18A TSP2=-500→-0.09A

Jogging

Set Abs or Absolute set TSPx button set the TSP1 or TSP2 value immediately as setpoint.

Set Inc or Increment by TSPx button does the same as Set Abs, but instead of setting absolute value, setpoint is being incremented. I.e. if TSP1=100 and click 5 times Set Inc, then setpoint value becomes 500.

Set zero setpoint button resets setpoint to 0. Remember, if you need quick stop, rather use hotkey Esc to disable drive, or press physical E-stop button if wired.

Capture & graphs

Capture controls

Options are:

• [TSR] Sample rate - choose the sampling rate of the signals. The higher sampling rate used, the higher level detail will be captured (good to observe sharply changing edges of signal) but at the same time lenght of recorded capture will be shorter. Lower sample rate loses some detail, but gives longer capture duration.
• Capture trigger dropbox - choose one of the following:
  • Capture instantly - Start capture button starts capture immediately
  • Capture in fault - Start capture button waits until drive faults and begins capture at the moment of fault occurring
  • Capture on setpoint change - Start capture button waits until setpoint is modified
  • Capture on setpoint change in positive direction - Start capture button waits until setpoint is modified in positive direction (capture not occurring if setpoint value is reduced)
• Continuously repeating capture - if ticked, capture will be repeating continuously. Useful with test stimulus generator.

Capture signals selection

Tick the checkboxes to choose which signals to capture and display on the graph. The more signals selected, the less the capture duration will be. I.e. if one chooses 4 signals instead of 2, the time of capture will reduce to 1/2.

Device state

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 bits

Name	Description	Troubleshooting
Initialized	True when drive has completed initialization procedure (such as 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 Position tracking error thresholdFPT Velocity mode: true when velocity tracking error is greater than 1/8 of Velocity tracking error thresholdFVT Torque mode: true when actual torque differs from torque setpoint more than 1/4 of Peak current limitMMC. This is not present in GraniteCore G2.0 devices (ARGON), 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 and other conditions are met. Full list of conditions of this status being true are: Trajectory planner output is stationary (for more info, see signal path of motor drive) and, following status bits are false: Follow error recovery Homing Fault stop Follow error warning and, following status bits are true: Initialized Enabled Run (drive active)
Enabled	True when drive has enabled state on. This allows drive to control motor if no faults are active.
Run (drive active)	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 Under voltage fault thresholdFUV to Over voltage fault thresholdFOV)
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 a.k.a servo ready	True when drive has performed all initializations, possible homing and is enabled and running. When true, drive is ready to follow user setpoint commands. The full logic of this bit is: Statuses Run and Initialized are both true Statuses Follow error recovery and Homing are both false If homing has been enabled (Homing enabledHME is not Disabled), then homing has completed successfully (i.e. not failed or aborted) Drive power stage is operational (there is small, typicall5y <0.2 second, initialization delay from rise of Enable/Clear faults signal to have power stage operational)
STO active	True when safe torque off is active. In Argon this monitors only STO2.

Readings

Name	Description
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.
Device temperature	Actual measured temperature if drive power stage
Actual current limit	The current level which is the maximum that drive will deliver to motor at the moment. In normal case it is same as Peak current limitMMC. If it's below it, see explanations below.
Last limit reason	The reason why drive is or has been recently throttling current from the maximum value. Possible reasons are: None or Settings - these mean that no reason to limit current, except user parameter values such as Peak current limitMMC I²t protection - this means that calculated motor temperature is at maximum and drive sets limit to Continuous current limitMCC Voltage - drive was unable to deliver desired current because HV DC bus voltage was insufficient to overcome motor's back-EMF voltage and other voltage losses. Increasing HV DC voltage might help to eliminate this. Temperature - device temperature causes throttling of current. Increasing cooling of device may help. Power limit - device is clipping current to avoid exceeding the maximum output power specified by Maximum peak powerMPP
Output current	Actual measured motor current
Velocity feedback	Actual measured velocity of motor (in physical units)
Velocity feedback (raw)	Velocity feedback (in hardware scale, typically number of encoder counts moved within 400 µs period)
Position feedback	Actual measured position of motor (hardware scale/encoder counts)
Setpoint value	Actual setpoint value

Fault register bits

Name	Description	Troubleshooting	Filter time before activation1
Tracking error	Drive stopped due to position or velocity tracking error getting larger than configured limit (Position tracking error thresholdFPT or Velocity tracking error thresholdFVT)	Check settings, operating conditions and fault limits to resolve.	Goal faults filter timeFFT
Over velocity	Motor has exceeded the speed limit defined at Over speed faultFEV		Goal faults filter timeFFT
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.	None
Over temperature	Drive temperature has exceeded its maximum value		None
Feedback	Failure in feedback device has been detected		None
Over current	Measured current was exceeding the limit value (current spike)	Check wiring or try different Over current toleranceFOC value	Affected by Over current toleranceFOC
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.	None
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.		None
Under voltage	HV DC bus voltage below Under voltage fault thresholdFUV value	Check voltage, parameters and safe torque off	None
Over voltage	HV DC bus voltage above Over voltage fault thresholdFOV value	Check voltage and Over voltage fault thresholdFOV. If happens during motor deceleration, then a braking resistor is needed.	None
Motion range	Motor has been commanded outside the allowed travel boundary. I.e. driven to limit switch when Limit switch functionLFS is set to fault stop		None
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.	None
Init	Initialization failed. Possible reasons: drive disabled or faulted during initialization or initialization time-outed	Check enable signal, parameters, wiring and faults	None
Motion	Motor stall or loss of feedback signal detected	Adjust Motion fault thresholdFMO to larger value or disable	Goal faults filter timeFFT
SimpleMotion	SimpleMotion V2 Communication error detected, possibly connection lost, invalid parameter value is sent or transfer error caused by EMI or bad wiring		None
Configuration	Fault caused by invalid or unstable configuration parameters	Refer to Fault location number for pin-pointing the fault source	None
Fault location ID	See Fault location

1) The time duration that drive will allow fault condition be true before fault status is latched. Some faults have user adjustable time delay to reduce error sensitivity in dynamic conditions, such as rapid acceleration.

Troubleshooting

• Fault location helps to identify the source of faults if nonzero

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