Difference between revisions of "Granity user guide/Goals"

[checked revision]

Revision as of 23:37, 1 September 2013

The Goals tab in the Granity serves following purpses:

Short GUI name	GUI name	Description	How to use
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.

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	Low pass filtering of setpoint signal	Tick the checkbox to smoothen the setpoint signal. This is useful if setpoint is noisy or jittering. However, if fastest response to the input is desired, leave this unticked. Also if using CAS>100%, this may help to smoothen the motion.
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).

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.
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.
CSD	Stop deceleration	NO EFFECT CURRENTLY
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.

Short GUI name	GUI name	Description	How to use
HME	Homing enabled
HMS	Home switch polarity
HMI	Index pulse search
HMH	Hard stop detection threshold
HMT	Motor current limit during homing
HMV	Homing velicty limit
HMA	Homing acceleration limit
HMF	Offset home after homing
HFO	Full speed offset move
HLL	Position soft low limit
HHL	Position soft high limit

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

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 The Goals tab in the Granity serves following purpses:
 * Choose drive [[Control modes|control mode]]