Servo motor torque mode test

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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" button 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.

Other motor types


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