Editing Granity user guide/Goals
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{{SetGranityTabPageTitle|Goals}}[[File:GranityGoals.png|thumb]] | {{SetGranityTabPageTitle|Goals}}[[File:GranityGoals.png|thumb]] | ||
− | The Goals tab in the Granity serves following | + | The Goals tab in the Granity serves following purpses: |
* Choose drive [[Control modes|control mode]] | * Choose drive [[Control modes|control mode]] | ||
* Choose [[setpoint signal]] and its scale | * Choose [[setpoint signal]] and its scale | ||
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* Setup [[homing]] | * Setup [[homing]] | ||
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==Parameters== | ==Parameters== | ||
===Drive function=== | ===Drive function=== | ||
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! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | ||
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| CM || Control mode || Select drive operating [[Control modes|control mode]] || Select Torque, Velocity or Position mode. This setting determines the meaning of setpoint signal. | | CM || Control mode || Select drive operating [[Control modes|control mode]] || Select Torque, Velocity or Position mode. This setting determines the meaning of setpoint signal. | ||
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| CEN || Require software enable || Tick this option to make drive start in "disabled" state and wait an enable command over SimpleMotion V2 bus to begin operation. || Tick this if drive will be controlled over SMV2 and enable on command is desired. If unticked, drive will automatically enable on power-on if physical enable & STO input signals are in correct state. | | CEN || Require software enable || Tick this option to make drive start in "disabled" state and wait an enable command over SimpleMotion V2 bus to begin operation. || Tick this if drive will be controlled over SMV2 and enable on command is desired. If unticked, drive will automatically enable on power-on if physical enable & STO input signals are in correct state. | ||
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− | === | + | ===Setpoing input signal=== |
{| class="wikitable" | {| class="wikitable" | ||
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| CRI || Setpoint input || Source the of [[setpoint signal]] || Choose one from Serial only [[SimpleMotion V2|SMV2]], [[Pulse and direction]], [[Quadrature]], [[PWM]] or [[Analog setpoint]] | | CRI || Setpoint input || Source the of [[setpoint signal]] || Choose one from Serial only [[SimpleMotion V2|SMV2]], [[Pulse and direction]], [[Quadrature]], [[PWM]] or [[Analog setpoint]] | ||
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− | | CIS || Setpoint smoothing|| | + | | 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. |
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− | | MUL ||Setpoint multiplier|| rowspan= | + | | MUL ||Setpoint multiplier||rowspan=2|MUL and DIV form a fractional scaler for all setpoint signals going to the drive. These variables may be adjusted to get desired sensitivity to the setpoint change.<br><br>Total setpoint scaling effect = MUL/DIV. || Adjust MUL to change scaling of setpoint. Observe right side value to verify the scaling. <br><br>I.e. value of 100% (when MUL=DIV) will pass the setpoint unchanged through the setpoint scaler. And for example setting 200% (MUL=2xDIV) 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). |
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|DIV||Setpoint divider|| Change DIV value if desired multiplication factor cannot be achieved by default value. Changing DIV also affects the scale of many other variables (conversion values are updated if DIV is changed). It is recommended to have DIV≥50 if possible to preserve drive's internal precision (better smoothness). | |DIV||Setpoint divider|| Change DIV value if desired multiplication factor cannot be achieved by default value. Changing DIV also affects the scale of many other variables (conversion values are updated if DIV is changed). It is recommended to have DIV≥50 if possible to preserve drive's internal precision (better smoothness). | ||
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! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | ||
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− | |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 [[Granity user guide/Machine|Machine tab]] settings are set-up first to get correct conversion | + | |CAL||Acceleration limit|| Set maximum allowed acceleration rate, effective in position & velocity modes only||rowspan=4|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 [[Granity user guide/Machine|Machine tab]] settings are set-up first to get correct conversion. |
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− | |CVL||Velocity limit || Set maximum allowed velocity, effective in position & velocity modes only. If you're already maxed out this variable and need more range, try reducing DIV value | + | |CVL||Velocity limit || Set maximum allowed velocity, effective in position & velocity modes only. If you're already maxed out this variable and need more range, try reducing DIV value. |
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|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. | |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. | ||
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− | === | + | ===Homing settings=== |
{| class="wikitable" | {| class="wikitable" | ||
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|HME||Homing enabled|| Control if and when internal homing function is active || Choose desired option if homing function is wanted. Homing on external command will start homing sequence by software command or via corresponding physical input signal line. ''Homing on power-up'' will initiate homing automatically once drive has been powered on. | |HME||Homing enabled|| Control if and when internal homing function is active || Choose desired option if homing function is wanted. Homing on external command will start homing sequence by software command or via corresponding physical input signal line. ''Homing on power-up'' will initiate homing automatically once drive has been powered on. | ||
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− | | | + | |HMS||Home switch polarity|| Set home switch or hard stop search direction || Select the direction of travel when home switch or [[hard-stop homing|hard stop]] is being searched by homing or choose ''No home switch search'' if only index pulse search is needed. |
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− | | | + | |HMI||Index pulse search|| Configure feedback device index pulse search || If enabled, drive will search for index pulse coming to feedback device port. Used for precise home position search. Leave disabled if only home switch/hardstop homing is needed. If both HMS and HMI are enabled, then drive will first perform home switch/hard-stop search and then index pulse search. |
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− | | | + | |HMH|| Hard stop detection threshold|| The sensitivity of hard stop detection, lower value is more sensitive. Only meaningful when HMS is enabled. || This is the position tracking error level which will cause hard stop detection. This value must be smaller than [[FPT]] to avoid tracking error fault. If electromechanical home switch is being used, set this value 0 to disable hard stop detection. |
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− | | | + | |HMT||Motor current limit during homing|| Torque/force limit during all homing motion || Set this limit to prevent damage to machine if homing motion is blocked and especially when [[hard-stop homing]] is being used. |
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− | | | + | |HMV||Homing velicty limit|| The travel velocity during homing sequences || Set the velocity limit during homing motion. Normally a low velocity is needed for best repeatability. |
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− | | | + | |HMA|| Homing acceleration limit|| Set the acceleration limit during homing motion || If acceleration limit is set too low, problems may arise due to long deceleration distance. |
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|HMF||Offset home after homing|| The distance to move after home switch/hard-stop/index pulse searches are complete || Set this value non-zero if it's desired to set zero position out of it's default position, i.e. in the middle of axis. | |HMF||Offset home after homing|| The distance to move after home switch/hard-stop/index pulse searches are complete || Set this value non-zero if it's desired to set zero position out of it's default position, i.e. in the middle of axis. | ||
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|HFO||Full speed offset move|| Set speed when doing offset move HMF || If ticked, then CVL will be used as velocity limit for HMF, otherwise HMV limit will be used. | |HFO||Full speed offset move|| Set speed when doing offset move HMF || If ticked, then CVL will be used as velocity limit for HMF, otherwise HMV limit will be used. | ||
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|HLL||Position soft low limit|| Soft travel limit in negative direction, may be used to eliminate limit switches || Set this value to the ''lowest'' absolute position where axis is permitted to move. Set HLL and HHL as 0 to disable soft travel limit (allows infinite motion in both directions, or use mechanical limit switches). | |HLL||Position soft low limit|| Soft travel limit in negative direction, may be used to eliminate limit switches || Set this value to the ''lowest'' absolute position where axis is permitted to move. Set HLL and HHL as 0 to disable soft travel limit (allows infinite motion in both directions, or use mechanical limit switches). | ||
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*Start homing now - starts homing motion if drive is in enabled state, use for testing the settings | *Start homing now - starts homing motion if drive is in enabled state, use for testing the settings | ||
*Abort homing - attempts to stop the homing motion instantly | *Abort homing - attempts to stop the homing motion instantly | ||
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===Stopping & braking settings=== | ===Stopping & braking settings=== | ||
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|BED||Mechanical brake engage delay|| The delay from drive disable or fault stop to engagement of electromechanical brake || Meaningful parameter only if drive brake output is being wired to a mechanical brake. Suggested to adjust this to match the deceleration time on [BDD]. If brake is slow acting, try shorter delay to compensate. | |BED||Mechanical brake engage delay|| The delay from drive disable or fault stop to engagement of electromechanical brake || Meaningful parameter only if drive brake output is being wired to a mechanical brake. Suggested to adjust this to match the deceleration time on [BDD]. If brake is slow acting, try shorter delay to compensate. | ||
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− | |BAP||Mechanical brake assisted phasing|| Controls mechanical brake assisted [[phasing a.k.a. phase search]] of AC/BLDC motors without Hall sensors || When using AC/BLDC motor without Hall-sensors on a vertical axis that may be pulled down by gravity, this setting may prevent the problem of axis falling before motor is being phased or initialized. Ticking this setting will keep mech brake on at the beginning of | + | |BAP||Mechanical brake assisted phasing|| Controls mechanical brake assisted [[phasing a.k.a. phase search]] of AC/BLDC motors without Hall sensors || When using AC/BLDC motor without Hall-sensors on a vertical axis that may be pulled down by gravity, this setting may prevent the problem of axis falling before motor is being phased or initialized. Ticking this setting will keep mech brake on at the beginning of phasing to prevent axis gravity fall. If unsure whether needed, leave un-ticked. |
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