Difference between revisions of "Argon user guide/Drive parameterization"
From Granite Devices Knowledge Wiki
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# Be familiar with the operation and parameters of [[Granity]]. Make sure you have read [[Granity user guide]]. | # Be familiar with the operation and parameters of [[Granity]]. Make sure you have read [[Granity user guide]]. | ||
# Granity connection working. See [[Argon_user_guide/Making_the_first_Granity_connection|Making the first Granity connection]] | # Granity connection working. See [[Argon_user_guide/Making_the_first_Granity_connection|Making the first Granity connection]] | ||
| − | ==Walk-through of parameterization== | + | ==Walk-through of initial parameterization== |
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. | 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. | ||
===Connect tab=== | ===Connect tab=== | ||
No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab. | No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab. | ||
===Goals tab=== | ===Goals tab=== | ||
| + | The factory defaults (torque control as control mode and serial only as setpoint) as well as the other defaults are the correct ones for beginning. | ||
| + | ===Machine tab=== | ||
| + | In this tab we configure the motor and its feedback device. | ||
| + | ====Motor==== | ||
| + | Find motor parameters from the motor data sheet/manufacturer specifications. | ||
| + | #Choose motor type from the drowndown list | ||
| + | #Set maximum rated speed of the motor, or alternatively the maximum allowed motor speed in the target application | ||
| + | #Set motor continuous and peak current values. If non-brush DC motor type has been selected, then these are measured as the [[peak value of sine]]. | ||
| + | #Set coil resistance and inductance (measured phase-to-phase). If unavailable, perform [[Torque control tuning]] manually after initial parameters are set. | ||
| + | #Set thermal time constant. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with peak current (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. | ||
| + | {{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.}} | ||
| + | ====Feedback device==== | ||
[[Category:Argon user guide]] | [[Category:Argon user guide]] | ||
Revision as of 23:04, 23 August 2013
This article will describe how to set-up Argon parameters with Granity to make motor operational and ready for servo tuning.
Preparations and connection
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 (to J5 port) 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 Making the first Granity connection
Walk-through of initial parameterization
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 uploading a firmware file to the drive.
Connect tab
No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab.
Goals tab
The factory defaults (torque control as control mode and serial only as setpoint) as well as the other defaults are the correct ones for beginning.
Machine tab
In this tab we configure the motor and its feedback device.
Motor
Find motor parameters from the motor data sheet/manufacturer specifications.
- Choose motor type from the drowndown list
- Set maximum rated speed of the motor, or alternatively the maximum allowed motor speed in the target application
- Set motor continuous and peak current values. If non-brush DC motor type has been selected, then these are measured as the peak value of sine.
- Set coil resistance and inductance (measured phase-to-phase). If unavailable, perform Torque control tuning manually after initial parameters are set.
- Set thermal time constant. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with peak current (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.
 | 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. |
