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| | ==Walk-through of initial parameterization== | | ==Walk-through of initial parameterization== |
| | In this chapter we walk-trough all Granity tabs and modify the parameter needed. This guide assumes that the drive is in factory defaults state (not configured before). Restore drive to factory state can be done by [[Granity user guide/Uploading a firmware|uploading a firmware]] file to the drive. | | In this chapter we walk-trough all Granity tabs and modify the parameter needed. This guide assumes that the drive is in factory defaults state (not configured before). Restore drive to factory state can be done by [[Granity user guide/Uploading a firmware|uploading a firmware]] file to the drive. |
| − | {{tip|'''Experimenting with drive parameters is (mostly) safe.''' If motor is attached to machine or bench for testing and nothing is attached to shaft (so motor can't jump but it can spin freely), then playing with all drive parameters can be regarded safe. The most important parameters are proper motor {{param|MMC}} and {{param|MCC}} to avoid overheating of motor. If unsure of proper current limits, start with low values and increase gradually if motor stays cool.}}
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| | ===Connect tab=== | | ===Connect tab=== |
| | No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab. | | No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab. |
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| | ===Machine tab=== | | ===Machine tab=== |
| | In this tab we configure the motor and its feedback device. | | In this tab we configure the motor and its feedback device. |
| − | ====Axis mechanics====
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| − | Parameters {{param|AXT}} and {{param|AXS}} affect only on the [[Granity unit conversion|unit conversion of Granity]] parameters (such as acceleration/velocity limit unit conversions) and has no effect on drive operation.
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| − |
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| − | Choose your axis type and scale, or leave them as defaults.
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| | ====Motor==== | | ====Motor==== |
| | Find motor parameters from the motor data sheet/manufacturer specifications. | | Find motor parameters from the motor data sheet/manufacturer specifications. |
| − | #Choose motor type from the drown down list {{param|MT}}. If motor is linear type, see [[configuring linear servo motor]]. | + | #Choose motor type from the drowndown list [[MT]] |
| − | #Set motor {{param|MPC}} (non-brush DC motors only). If unsure, see [[Determining motor pole count]]. | + | #Set motor pole count [[MPC]] (non-brush DC motors only). If unsure, see [[Determining motor pole count]]. |
| − | #Set {{param|MMS}} of the motor, or alternatively the maximum allowed motor speed in the target application | + | #Set maximum rated speed [MMS] of the motor, or alternatively the maximum allowed motor speed in the target application |
| − | #Set motor {{param|MMC}} and {{param|MMC}} current values. If non-brush DC motor type has been selected, then these are measured as the [[peak value of sine]]. See [[Motor peak and continuous current limits]] for description. | + | #Set motor continuous [[MMC]] and peak [[MMC]] current values. If non-brush DC motor type has been selected, then these are measured as the [[peak value of sine]]. |
| − | #Set motor {{param|MR}} and {{param|ML}}, these values are measured [[Phase-to-phase]]. If unavailable, perform [[Tuning torque controller]] manually after initial parameters are set. | + | #Set coil resistance [[MR]] and inductance [[ML]], these values are measured [[Phase-to-phase]]. If unavailable, perform [[Tuning torque controller]] manually after initial parameters are set. |
| − | #Set {{param|MTC}}. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with {{param|MMC}}. 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. | + | #Set thermal time constant [[MTC]]. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with peak current [[MMC]]. 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. |
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| | {{tip|As torque is directly proportional to motor current, it is advisable to set current limits lower at the beginning of testing. I.e. 50% of motor's rated current will produce 50% of motor's rated torque.}} | | {{tip|As torque is directly proportional to motor current, it is advisable to set current limits lower at the beginning of testing. I.e. 50% of motor's rated current will produce 50% of motor's rated torque.}} |
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| | ====Feedback device==== | | ====Feedback device==== |
| − | #Choose feedback device type from the drop down {{param|FBD}} | + | #Choose feedback device type from the dropdown [[FBD]] |
| − | #Set feedback device resolution. If {{param|FBD}} is [[quadrature]] encoder, then manufacturers typically give resolution as pulses per revolution (PPR) or lines per revolution (LPR) which are the same thing and shall be entered directly into {{param|FBR}} field. Some manufactures also call PPR as CPR. | + | #Set feedback device resolution. If [[FBD]] is [[quadrature]] encoder, then manufacturers typically give resolution as pulses per revolution (PPR) or lines per revolution (LPR) which are the same thing and shall be entered directly into [[FBR]] field. Some manufactures also call PPR as CPR. |
| − | #Configure the polarity of feedback device counting direction by {{param|FBI}} parameter. 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. | + | #Configure the polarity of feedback device counting direction by [[FBI]] parameter. 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. |
| − | #Leave the Hall sensors Off from the parameter {{param|FBH}} during initial setup. Enable later if necessary ([[Argon_user_guide/J1_connector_wiring#Hall sensor|see when]]). | + | #Leave the Hall sensors Off [[FBH]] during initial setup. Enable later if [[Argon_user_guide/J1_connector_wiring#Hall sensor|necessary]]. |
| − | # For SinCos encoders, see [[Using SinCos encoder|Using_SinCos_encoder]].
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| − | | + | |
| − | ===Tuning===
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| − | Tuning tab contains feedback gain values for velocity and position control modes as well as torque bandwidth limit setting. Configuring these parameters are documented in [[Servo motor tuning guide]]. However, before proceeding into tuning, go through all other settings listed in this article.
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| − | ===Fault limits===
| + | |
| − | Fault limits define the conditions in which drive is willing to operate. If condition is out of the set values, drive will enter into a fault state and stop motor control until errors are cleared.
| + | |
| − | ====Drive fault limits====
| + | |
| − | These settings specify drive electrical condition such as supply voltage and over current tolerance.
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| − | #Leave {{param|FOC}} value as default if no overcurrent faults occur. See [[Tuning torque controller]] if overcurrent faults occur.
| + | |
| − | #Set {{param|FUV}} and {{param|FOV}} by following the page [[Configuring drive voltage limits FUV and FOV]].
| + | |
| − | #It is important to goal deviation faults (i.e. {{param|FFT}}, {{param|FPT}}, {{param|FVT}}, {{param|FEV}}) as low as possible. Set them so that faults don't occur during normal operation but any anomaly or unexpected behavior will trigger them.
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| − | {{warning|If goal deviation faults are unnecessary high, drive may pose a danger in case of unexpected behavior. For example if motor starts running away full speed without command, then proper velocity fault threshold values may save from damage.}}
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| − | | + | |
| − | ====Goal deviation faults====
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| − | These faults adjust motor monitoring during operation. Drive will enter into fault state if motor condition deviates more than allowed from the desired condition. See [[Granity unit conversion]] before adjusting.
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| − | #{{param|FFT}} sets the time how fast {{param|FPT}}, {{param|FVT}}, {{param|FEV}} and {{param|FMO}} faults react. Setting higher time value allows drive to continue operation over short deviations thus avoid false triggering. Set this from 0.0 to 0.2 seconds in the beginning.
| + | |
| − | #Set Position tracking error threshold {{param|FPT}} according how much mechanical axis is allowed to deviate from the setpoint position in position control mode.
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| − | #Set Velocity tracking error threshold {{param|FVT}} according how much motor or axis speed may may deviate from the velocity setpoint. This affects also in position mode as velocity controller is the intermediate step between torque and position controllers.
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| − | #Set {{param|FEV}} according to the maximum speed allowed for the motor or axis. Helps to stop motor if system goes totally out of control and speeds up spuriously.
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| − | #Leave {{param|FMO}} as 0 (0 = disabled) for the beginning. Using nonzero value enables motion fault.
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| − | #Choose {{param|LFS}} according to your preference. If other than ''Do nothing'' option requires that limit switches are installed and connected to J5 port. Note: at the moment ''Servo stop'' option is active in the drive [[firmware]] and will do nothing until FW upgrade enables it.
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| − | ===Testing tab===
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| − | These settings does not affect drive operation, so nothing to be changed here at this point. These controls will be used for servo tuning purposes and fault analysis.
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| − | | + | |
| − | ==Servo motor tuning==
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| − | Tuning a servo motor is a compulsory task to make motor behave as desired and perform well during operation. Follow the [[Servo motor tuning guide]].
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| − | ==Finishing touches==
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| − | The last step of parameterization is to adapt settings to match the motion [[controller]]. Steps:
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| − | | + | |
| − | # Choose [[setpoint]] input {{param|CRI}} to match your motion [[controller]].
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| − | # If external motion [[controller]] with acceleration limit (such as CNC controller) is being used, then it is advised to set {{param|CAL}} value to maximum of 32767 (unlimited acceleration) after [[Servo motor tuning guide|motor tuning]] to enable motion tracking without delay. Use a limited acceleration value if drive is being used with [[Pulse burst positioning|pulse burst positioning]] or [[SimpleMotion V2]] controller.
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| − | # If [[setpoint]] is too sensitive or not sensitive enough (such as limiting speed), then adjust setpoint scaling factory by adjusting {{param|MUL}} and {{param|DIV}}.
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| − | #If [[setpoint]] signal is noisy or jittering, try enabling {{param|CIS}} to smoothen it inside drive. However, leave {{param|CIS}} disabled if setpoint tracking without any delay is desired.
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| − | #Set-up [[homing]] if required by application
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| − | | + | |
| − | [[Category:Argon_user_guide]]
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| − | [[Category:Pages_needing_update_after_FW_upgrades]]
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