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 If motor is stepping motor, see Using stepping motor with IONI
MMS	Maximum speed	The maximum allowed speed of the motor.	Check the motor datasheet for correct value.
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.
MPP	Peak power limit	Sets the upper limit of power that drive is allowed to feed into motor. If power limit is about to exceed, drive will start throttling current to limit the power consumption of motor.	This is most useful when using switching mode power supplies that might fault under overload conditions (causing under voltage fault in drive). In such case, set this to match power supply rating or below the rating.

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. Refer to your drive specifications for supported feedback device choices. Note that if unsupported FBD is selected, drive will indicate an error and refuses to initialize.
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. If using SinCos feedback device, multiply encoder line count by the selected interpolation factor and enter it as the feedback device resolution. I.e. if SinCos encoder has 1024 lines/sincos cycles per revolution, and you are using 64X interpolation, then set FBR as 1024*64=65536 PPR.
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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