Granity user guide/Goals
Contents
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. |
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. |
| 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). |
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 | |
| 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 |
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