Goals tab
The Goals tab in the Granity serves following purpses:
- Choose drive control mode
- Choose setpoint signal and its scale
- Set motion acceleration & velocity limits
- Setup homing
Parameters
Drive function
| Short GUI name | GUI name | Description | How to use |
|---|---|---|---|
| CM | Control mode | Select drive operating control mode | Select Torque, Velocity or Position mode. This setting determines the meaning of setpoint signal. |
| CEN | Require software enable | Tick this option to make drive start in "disabled" state and wait an enable command over SimpleMotion V2 bus to begin operation. | Currently not implemented in the firmware. |
Setpoing input signal
| 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. |
| MUL | Setpoint multiplier | MUL and DIV form a fractional scaler for all setpoint signals going to the drive. These variables may be adjusted to get desired sensitivity to the setpoint change. Total setpoint scaling effect = MUL/DIV. |
Adjust MUL to change scaling of setpoint. Observe right side value to verify the scaling. I.e. value of 100% (when MUL=DIV) will pass the setpoint unchanged through the setpoint scaler. And for example setting 200% (MUL=2xDIV) 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). |
| DIV | Setpoint divider | Change DIV value if desired multiplication factor cannot be achieved by default value. Changing DIV also affects the scale of many other variables (conversion values update if DIV is changed) and also the maximum settable velocity limit. |
Motion dynamics - a.k.a. velocity & acceleration limits
| 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 revolutions/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. If you're already maxed out this variable and need more range, try reducing DIV value. | |
| 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. |
Homing settings
| 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 |
- Homing buttons
- Start homing now - starts homing motion if drive is in enabled state, use for testing the settings
- Abort homing - attempts to stop the homing motion instantly
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