Difference between revisions of "Granity user guide/Goals"

[checked revision]

Revision as of 14:23, 14 August 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.

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.
CAS	Setpoint scaling factor	Variable to adjust the scale of setpoint signal	Value of 100% will pass the setpoint unchanged through the setpoint scaler. For example setting 200% here 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).

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 mm/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
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

@@ Line 1: / Line 1: @@
 ==Goals tab==
-The Goals tab in the GDtool 3 serves following purpses:
+The Goals tab in the Granity serves following purpses:
 * Choose drive [[Control modes|control mode]]
 * Choose [[setpoint signal]] and its scale
@@ Line 31: / Line 31: @@
 ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 |-
-|CAL||Acceleration limit|| ||
+|CAL||Acceleration limit|| Set maximum allowed acceleration rate, effective in position & velocity modes only||rowspan=4|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 mm/s. Make sure [[Granity user guide/Machine|Machine tab]] settings are set-up first to get correct conversion.
 |-
-|CVL||Velocity limit || ||
+|CVL||Velocity limit || Set maximum allowed velocity, effective in position & velocity modes only
 |-
-|CSD||Stop deceleration|| NO EFFECT CURRENTLY||
+|CSD||Stop deceleration|| NO EFFECT CURRENTLY
 |-
-|CRV||Error recovery velocity || ||
+|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.
 |}
 ===Homing settings===