Difference between revisions of "Servo motor torque mode test"

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** Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.
 
** Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.
 
* The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement.
 
* The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement.
 +
* You have read and understood [[Servo tuning basics | servo tuning basics]].
  
 
{{damage|Don't use [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover] cables in SimpleMotion V2 system}}
 
{{damage|Don't use [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover] cables in SimpleMotion V2 system}}
  
 
== Steps ==
 
== Steps ==
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# Read [[Servo tuning basics | servo tuning basics]] to get understanding how servo motors work.
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# Set the drive in Torque mode from [[Granity | Granity]]/Goals tab.
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# Set the drive in Torque mode from [[Granity | Granity]].
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# Go to Granity/Testing tab.
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# Follow the [[Tuning torque controller | torque controller tuning instructions]].
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# Make sure that the setpoint is zero and the drive is enabled and ready.
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# Increase the target setpoint to get the motor moving.
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# Set the [TSP1] Target setpoint 1 to 500.
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## Go to Granity/Testing tab.
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# Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
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## Make sure that the setpoint is zero and the drive is enabled and ready.
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# If the motor moves in a continuous manner, all parameters and wiring are correct.
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## Set the [TSP1] Target setpoint 1 to 500.
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#* If the motor halts, click the Set zero setpoint and follow the troubleshooting instructions below.
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## Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
+
−
## If the motor moves in a continuous manner, all parameters and wiring are correct.
+
  
 
== Troubleshooting ==
 
== Troubleshooting ==
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* Check the motor pole count and encoder resolution from their datasheets.
 
* Check the motor pole count and encoder resolution from their datasheets.
 
* Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.
 
* Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.
−
** The position feedback value is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).
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** The Position feedback value in Granity/Testing tab is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).
  
 
== Further reading ==
 
== Further reading ==

Revision as of 12:51, 21 August 2017

Main idea

The servo motor torque mode test is a method to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a continuous manner.

Assumptions

  • All wiring are triple checked and torque tuning is done properly.
    • Refer to the product user guidebook for detailed wiring instructions.
    • Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.
  • The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement.
  • You have read and understood servo tuning basics.


Don't use crossover cables in SimpleMotion V2 system

Steps

  1. Set the drive in Torque mode from Granity/Goals tab.
  2. Go to Granity/Testing tab.
  3. Make sure that the setpoint is zero and the drive is enabled and ready.
  4. Set the [TSP1] Target setpoint 1 to 500.
  5. Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
  6. If the motor moves in a continuous manner, all parameters and wiring are correct.
    • If the motor halts, click the Set zero setpoint and follow the troubleshooting instructions below.

Troubleshooting

In most cases, the motor halts after a short movement if the feedback resolution is incorrect, or if it's direction is reversed.

  • Check wiring, especially logic and motor voltages, Enable, and STO.
  • Check FBI Invert feedback direction checkbox in Granity/Machine tab, and repeat the steps above.
    • This inverts the encoder direction without the need for rewiring.
  • Check the motor pole count and encoder resolution from their datasheets.
  • Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.
    • The Position feedback value in Granity/Testing tab is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).

Further reading

After the torque mode is configured and the motor can be controlled in torque mode properly, velocity and/or position modes can be tuned. Please refer to their respective instruction pages for further details.

Other motor types

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