Editing Configuring IONI drive in SimuCUBE

Each SimuCUBE system consists one [[IONI Servo & Stepper Drive]] that is controls the motor of [[Force feedback system (FFB)]]. This page helps setting correct parameters to IONI drive.

== Preparations ==
# Download [[Granity]] software
# Connect SimuCUBE X4 to PC with USB cable
# Connect motor to connector X1 and motor feedback device to X16 as instructed earlier
# Have E-stop switch unconnected or open until configuration is complete
# Power on SimuCUBE
# Wait until windows has recognized the device and installed driver
# Start Granity software
# Connect to IONI by clicking Connect to drive button<br/> [[File:Granityconnect.png|830x830px]]
# Once list of found devices pop-up, select the IONI drive and click ''Open''
If everything went fine, we are now connected to IONI and change it's settings. If not, see [[SimuCUBE troubleshooting]] and [[Device connection troubleshooting]].

== Upgrading IONI firmware ==
First it is recommended to upgrade to the latest IONI firmware:
# Download latest IONI firmware from [[IONI firmware releases]]
# Follow instructions of [[Granity user guide/Uploading a firmware]]
# Connect again into drive by choosing ''Connect to drive'' just like we did first time
# Proceed to ''Loading motor configuration file'' or ''Configuring motor manually'' chapter

== Loading motor configuration file ==
If you have pre-made configuration file made to your motor and SimuCUBE, you may follow this chapter to load it in the IONI and skip the next chapter ''Configuring motor''.
# Click ''Load settings from file''
# Select the file and open it
# Click ''Save settings to drive non-volatile memory'' and answer yes to questions of applying settings and restarting drive afterwards
# All done, proceed to ''Testing settings'' chapter

== Configuring motor manually ==
All settings except the one mentioned here should be kept at their factory defaults. If unsure which settings are factory defaults, then repeat firmware upgrade procedure and tick the ''Reset device to factory state'' checkbox before uploading the firmware.

{{Machine|Have E-stop switch pressed (open circuit) during configuration to avoid unexpected motion}}

Following settings are constant and always required with SimuCUBE:
{| class="wikitable"
!Granity tab
!Parameter
!Value
!Notes
|-
|Goals
|{{Param|CM}}
|Torque control
|
|-
|Goals
|{{Param|CEI}}
|SimuCUBE
|
|-
|Goals
|{{Param|CRI}}
|Pulse Width Modulation
|'''Note:''' Leave this to Serial only if you're configuring for the first time (and set this to Pulse Width Modulation after testing (later chapter on this page) if testing was successful)
|-
|Goals
|{{Param|CED}}
|On (ticked)
|
|-
|Fault limits
|{{Param|FOV}}
|49V
|Assuming 48 VDC regulated power supply
|-
|Fault limits
|{{Param|FUV}}
|30V
|Assuming 48 VDC regulated power supply
|-
|Fault limits
|{{Param|FOC}}
| High
|Change this only if over current fault problems occur with the motor
|-
|Machine
|{{Param|MPP}}
|Your power supply rating in watts
|Granite Devices SimuCUBE systems are have one of these ratings: 320W, 480W or 720W. Use value from your model. If under voltage faults occur, try reducing this value little bit (like 10-30W).

|}

Motor parameters depend on the attached motor type and specifications. Refer your motor manufacturer's data sheet to get the correct values in the following fields:
{| class="wikitable"
!Granity tab
!Parameter
!Value
!Notes
|-
|Machine
|{{Param|MT}}
|3 phase AC or BLDC
|
|-
|Machine
|{{Param|MPC}}
|8
|8 is a typical value, however 4, 6 are common as well
|-
|Machine
|{{Param|MCC}}
|Maximum motor continuous current 
|Most AC motors specify current as RMS value. Value in this field is entered as [[Peak value of sine]]. To covert RMS current to peak value of sine, multiply it by 1.41.
|-
|Machine
|{{Param|MMC}}
|Motor peak current rating
|Most AC motors specify current as RMS value. Value in this field is entered as [[Peak value of sine]]. To covert RMS current to peak value of sine, multiply it by 1.41. 

This defines the maximum torque that system will produce. For safety reasons, it is recommended to set this value to 20% of motor specified value until system operation has been verified.
|-
|Machine
|{{param|MR}}
|Motor phase-to-phase resistance (from motor data sheet)
|
|-
|Machine
|{{param|ML}}
|Motor phase-to-phase inductance (from motor data sheet)
|
|-
|Machine
|{{param|FBD}}
|Motor feedback device type
|If unsure, choose Quadrature encoder 1
|-
|Machine
|{{param|FBR}}
|Encoder resolution in pulses per revolution
|Typical motors have 2500 PPR or 5000 PPR encoder
|-
|Machine
|{{param|FBI}}
| Disabled/Enabled
| Try first without enabling this, and later with inverting this setting if motor testing section shows problems
|-
|Tuning
|{{param|TBW}}
|680 Hz
|Sets maximum torque bandiwdth of motor. Values between 220 to 680 Hz recommended for FFB systems.
|}
After all parameters have been set, click ''Apply settings'' and go to Connect tab and click ''Save settings on drive non-volatile memory''. Many parameter changes need restarting of the drive to activate new settings. If unsure, just click ''Restart drive'' and connect again.

== Testing settings ==
To test settings first time, it is advised to change {{Param|CRI}} temporarily to ''Serial only'' to avoid unexpected motion. After changing any parameter (including CRI),click ''Apply settings'' button to activate the change. 

Testing procedure:
# Have Granity connected to drive and go to Testing tab
# Make sure that nothing is blocking motor rotation and motor is rigidly mounted ('''unexpected and strong rotation or vibration might occur''')
# Release E-stop switch to activate the drive
# Motor should start initializing by swinging back and forth with decreasing amplitude and then become in rest without any torque or shaft holding force
# Manually change torque setpoint by clicking ''Increment by TSP1'' several times. This will increase torque command [[Setpoint signal|setpoint]] on each click. Typically motor should definitely rotate when setpoint is increased above value 5000. Observe motor:
## Motor should start rotating after produced torque exceeds static friction. If motor spins, test has passed! Set setpoint to zero and proceed to finalizing settings.
## If motor does not start rotating, check device status and fault registers in the Testing tab and check [[SimuCUBE troubleshooting]]
## If motor starts holding position (becomes stiff to turn) and has "bumps" if forced to turn anyways, then one of following settings need attention:
### FBI - try inverting this checkbox value and try again
### If FBI didn't help, ensure that MPC and FBR are exactly correct values. See [[Determining motor pole count]] if not sure about pole count.

== Finalizing settings ==
To finalize setup, change {{Param|CRI}} to Pulse Width Modulation, Apply and save settings to drive. Then proceed to the next step of SimuCUBE end-user guide.

{{machine|When CRI is set to anything but Serial setpoint, IONI drive starts following torque command from external inputs. This means that the firmware loaded into SimuCUBE is able to rotate and send torque command. Beware unexpected rotation when changing this setting.}}

After SimuCUBE effect settings have been configured and verified to work, you might want to become back to the settings and adjust motor current limits (MMC and MCC) to increase or adjust maximum torque of motor.