Difference between revisions of "Servo motor torque mode test"
From Granite Devices Knowledge Wiki
| [checked revision] | [checked revision] |
(Created page with "= Main idea = The servo motor torque mode test is a test to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a con...") |
(→Steps) |
||
| (5 intermediate revisions by 2 users not shown) | |||
| Line 1: | Line 1: | ||
| − | = Main idea = | + | == Main idea == |
| − | The servo motor torque mode test is a | + | 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 == | == Assumptions == | ||
* All wiring are triple checked and [[Tuning torque controller | torque tuning]] is done properly. | * All wiring are triple checked and [[Tuning torque controller | torque tuning]] is done properly. | ||
| − | * The motor is free to move/rotate, and no harm can happen from a long continuous movement. | + | ** 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 | servo tuning basics]]. | ||
| + | |||
| + | {{damage|Don't use [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover] cables in SimpleMotion V2 system}} | ||
== Steps == | == Steps == | ||
| − | # Set the drive in Torque mode from [[Granity | Granity]]. | + | {{machine|During this test, motor may spin at maximim speed. Ensure that motor is free to run, or if not, ensure that no damage occurs if it hits to mechanical limit.}} |
| − | # | + | # Set the drive in Torque mode from [[Granity | Granity]]/Goals tab. |
| + | # Go to Granity/Testing tab. | ||
| + | # Make sure that the setpoint is zero and the drive is enabled and ready. | ||
| + | # Set the {{param|TSP1}} Target setpoint 1 to 500. | ||
| + | # Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not. | ||
| + | #*When setpoint reaches 16384 or greater, the maximum current is being delivered to motor. So further increase of setpoint will not have any effect. | ||
| + | #*If drive stops into overvelocity fault, it typically means that system works properly. However, you may increase {{param|FVT}} enough to complete the test without overvelocity fault. | ||
| + | # If the motor moves in a continuous manner, all parameters and wiring are correct. | ||
| + | #* If the motor halts, click the "Set zero setpoint" button 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. | ||
| + | * [[Tuning velocity controller]] | ||
| + | * [[Tuning position controller]] | ||
| + | |||
| + | == Other motor types == | ||
| + | * For linear motors, please refer to [[Configuring linear servo motor|linear motor configuration instructions]]. | ||
| + | * For stepping motors, please refer to [[Using stepping motor with IONI|stepping motor configuration instructions]]. | ||
| + | |||
| + | [[Category:Application]] | ||
| + | [[Category:Motor_drives]] | ||
| + | [[Category:Setup_guides]] | ||
| + | [[Category:Troubleshooting]] | ||
Latest revision as of 13:07, 11 November 2021
Main idea[edit | edit source]
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[edit | edit source]
- 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[edit | edit source]
 | During this test, motor may spin at maximim speed. Ensure that motor is free to run, or if not, ensure that no damage occurs if it hits to mechanical limit. |
- Set the drive in Torque mode from Granity/Goals tab.
- Go to Granity/Testing tab.
- Make sure that the setpoint is zero and the drive is enabled and ready.
- Set the Target setpoint 1TSP1 Target setpoint 1 to 500.
- Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
- When setpoint reaches 16384 or greater, the maximum current is being delivered to motor. So further increase of setpoint will not have any effect.
- If drive stops into overvelocity fault, it typically means that system works properly. However, you may increase Velocity tracking error thresholdFVT enough to complete the test without overvelocity fault.
- If the motor moves in a continuous manner, all parameters and wiring are correct.
- If the motor halts, click the "Set zero setpoint" button and follow the troubleshooting instructions below.
Troubleshooting[edit | edit source]
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[edit | edit source]
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[edit | edit source]
- For linear motors, please refer to linear motor configuration instructions.
- For stepping motors, please refer to stepping motor configuration instructions.
