Servo motor torque mode test

Main idea

The servo motor torque mode test is a method to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a continuous manner.

Assumptions

• All wiring are triple checked and torque tuning is done properly.
  • Refer to the product user guidebook for detailed wiring instructions.
  • Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.
• The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement.
• You have read and understood servo tuning basics.

Steps

1. Set the drive in Torque mode from Granity/Goals tab.
2. Go to Granity/Testing tab.
3. Make sure that the setpoint is zero and the drive is enabled and ready.
4. Set the [TSP1] Target setpoint 1 to 500.
5. Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
6. If the motor moves in a continuous manner, all parameters and wiring are correct.
   • If the motor halts, click the Set zero setpoint and follow the troubleshooting instructions below.

Troubleshooting

In most cases, the motor halts after a short movement if the feedback resolution is incorrect, or if it's direction is reversed.

• Check wiring, especially logic and motor voltages, Enable, and STO.
• Check FBI Invert feedback direction checkbox in Granity/Machine tab, and repeat the steps above.
  • This inverts the encoder direction without the need for rewiring.
• Check the motor pole count and encoder resolution from their datasheets.
• Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.
  • The Position feedback value in Granity/Testing tab is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).

Further reading

After the torque mode is configured and the motor can be controlled in torque mode properly, velocity and/or position modes can be tuned. Please refer to their respective instruction pages for further details.

• Tuning velocity controller
• Tuning position controller

Other motor types

• For linear motors, please refer to linear motor configuration instructions.
• For stepping motors, please refer to stepping motor configuration instructions.

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