Machine tab
The Machine tab serves following purposes:
- Choose axis type (linear/rotary) and its scale
- Set motor type and properties
- Set feedback device types and properties
Parameters
Axis mechanics
| Short GUI name | GUI name | Description | How to use |
|---|---|---|---|
| AXT | Axis type & units | Select axis type and real world units used | Choose your mechanical axis type here. AXT and AXS affect only the unit conversion of Granity parameters (such as accel/velocity limit unit conversions), no effect on drive operation. |
| AXS | Axis scale | Set axis travel per motor revolution | Determine how much your axis moves per revolution and enter it here. I.e. if you have selected Linear[mm] as AXT, then calculate and enter how many millimeters axis moves per revolution. AXT and AXS affect only the unit conversion of Granity parameters (such as accel/velocity limit unit conversions), no effect on drive operation. |
| AXI | Invert direction | Set the positive direction of axis | State of this checkbox determines which rotation/travel direction is positive and which negative. Change this to invert the direction of axis. |
Motor parameters
| Short GUI name | GUI name | Description | How to use |
|---|---|---|---|
| MT | Motor type | Motor type to be driven | Choose your motor type. If motor is linear type, see configuring linear servo motor. |
| MPC | Pole count | Set motor magnetic pole count (not in DB motors) | Set number of magnetic poles present in the AC/BLDC motor according to motor specifications. If not specified, see Determining motor pole count or in case of linear motor, see Configuring linear servo motor. |
| MCC | Continuous current limit | Motor continuous current limit (peak value of sine in AC/BLDC modes, not RMS) | Use value from your motor data sheet or any lower value to reduce torque. If your AC/BLDC motor phase current is specified as RMS value, then multiply it with 1.41 to get peak value of sine. |
| MMC | Peak current limit | Motor peak current limit (peak value of sine in AC/BLDC modes, not RMS). Drive outputs this current to motor for max of 2 second duration and then falls back to the continuous limit (MCC). MCC will be also used if motor temperature modeling (see MTC) indicates maximum temperature. | |
| MR | Coil resistance | Motor phase-to-phase winding resistance | See motor data sheet and enter the value here. If unknown, see Tuning torque controller. |
| ML | Coil inductance | Motor phase-to-phase winding inductance | |
| MTC | Thermal time constant | Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with peak current (MMC) | Refer to your motor data sheet for correct value.
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. |
Position feedback device
| Short GUI name | GUI name | Description | How to use |
|---|---|---|---|
| FBD | Feedback device | Position feedback device type attached to the axis | Choose connected device type. Use only the ones that are currently supported in the firmware. Currently only Quadrature encoder 1 is supported. |
| FBR | Feedback device resolution | Resolution of the feedback device per revolution | In case of quadrature encoder choose number of lines or pulses per revolution. Make sure to enter resolution of feedback device before 4x quadrature decoding (encoder real resolution is 4 times the number of lines per revolution).
If limited motion range and tracking error fault after certain travel distance is observed, try dividing this parameter value by 4 or multiplying by 4. |
| FBI | Invert feedback direction | Set polarity of feedback device counting direction | Motor and feedback device must have same electrical positive rotation direction to make a stable servo system. If your system shows no stability (instant following error after a motor "jump"), try changing this setting. |
| FBH | Hall sensors | Configure Hall sensors if available | If motor Hall sensors are connected and wires, choose option from the list to utilize them. |
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