Editing Granity user guide/Goals

{{SetGranityTabPageTitle|Goals}}[[File:GranityGoals.png|thumb]]
The Goals tab in the Granity serves following purposes:
* Choose drive [[Control modes|control mode]]
* Choose [[setpoint signal]] and its scale
* Set motion acceleration & velocity limits
* Setup [[homing]]

See also:
*[[Signal path of motor drive]] - an illustration of how drive processes various signals and parameters
==Parameters==
===Drive function===
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
| SMO || SM Bus address offset || Device [[SimpleMotion V2]] bus address will be a sum of hardware address setting (i.e. DIP switches) and the value of this parameter. SMO can be used to change device address to avoid multiple devices in same address. || Use when chaining multiple [[IONICUBE]] or [[IONICUBE 1X]] motherboards in same SM bus: in 4 axis motherboards set first SMO for frist motherboard drives to 0, second motherboard drives to 4, third's drives to 8 etc. With IONICUBE 1X, increment address by 1 for each drive. Leave to 0 if using only one IONICUBE.
|-
| CM || Control mode || Select drive operating [[Control modes|control mode]] || Select Torque, Velocity or Position mode. This setting determines the meaning of setpoint signal.
|-
| 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.
|-
|CEI|| Electrical interface || Defines the electrical interface used by drive, i.e. affects the functionality of I/O pins.  ||Refer to drive user guide for different modes
|-
|CEP||Require pulsing on enable input|| Activate [[charge pump enable input]]||Set true if charge pump safety feature is needed & used by [[controller]]
|}

===[[Setpoint]] input signal===
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
| CRI ||  Setpoint input || Source the of [[setpoint signal]] || Choose one from Serial only [[SimpleMotion V2|SMV2]], [[Pulse and direction]], [[Quadrature]], [[PWM]] or [[Analog setpoint]]
|-
| CIS || Setpoint smoothing|| 250Hz low pass filtering of setpoint signal || Tick the checkbox to smoothen the setpoint signal. This is useful if setpoint is noisy or jittering. Also if using setpoint scaling greater than 100% (MUL>DIV), this may help to smoothen the motion. However, if the lowest possible latency from setpoint change to motor reaction is desired (such as in [[dual-loop feedback position control]]), leave this unticked, as CIS adds about 6 ms delay to setpoint reaction speed.
|-
| 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).
|-
|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).
|-
|CAO||Setpoint offset nulling||Offset compensation meant to eliminate the static offset of absolute setpoint inputs (analog & PWM)||When analog or PWM setpoint source is set to 0, and setpoint seen by drive is not 0, adjust this setting to achieve 0 (use Testing tab status page to see when setpoint is near 0).
|-
|CED||Enable direction input||In analog and PWM setpoint modes, this checkbox defines how input signals are interpreted. If ticked, then an input pin of drive will decide the polairty of setpoint while the analog or PWM signal defines the amplitude. When unticked, no direction input is used, instead analog or PWM will control whole setpoint range from negative to positive.||Set according to [[controller]] outputs and wiring.
|}

===Motion dynamics - a.k.a. velocity & acceleration limits===
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
|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. 

If external motion [[controller]] with acceleration limit (such as CNC controller) is being used, then it is advised to set CAL value to maximum of 32767 (unlimited acceleration) to enable motion tracking without delay. Setting CAL to maximum is recommended after after [[Servo motor tuning guide|motor tuning]] is complete. 

Use a limited CAL acceleration value if drive is being used with [[Pulse burst positioning|pulse burst positioning]] or [[SimpleMotion V2]] controller or when motor is being tuned with Granity test stimulus generator.
|-
|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.|| rowspan="2" |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. 
|-
|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.
|}

===[[Homing]] settings===
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
|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.
|-
|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.
|-
|HMV||Homing velocity limit|| The travel velocity during homing sequences || Set the velocity limit during homing motion. Normally a low velocity is needed for best repeatability.
|-
|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.
|-
|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.
|-
|HSS||Home switch source|| Select which input pin will be used for reading home switch state || Some drives support selecting physical input pin for home switch. Use drop down menu to select according to your wiring.
|-
|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.
Even when HMH is enabled, the home switch input will remain active. Home switch / hard stop will stop on the event that occurs first: home switch input pin state change, or increase of position tracking error beyond the HMH parameter value threshold.
|-
|HSA||Second approach distance||Optional precision increasing run for home switch or hard stop search || Second approach, if enabled by setting non-zero value, will perform home switch or hard stop detection again with reduced velocity. To enable, enter a position value where axis shall move to begin the second home switch or hard stop approach.
|-
|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.
|-
|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.
|-
|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.
|-
|HAP||Apply absolute feedback device reading||Checkbox to enable utilization of absolute encoder information during homing||Checking the checkbox will read absolute encoder absolute position, and set that value as current position after other homing steps are finished. 
* If absolute encoder covers full motion range (i.e. multi turn absolute encoder), then this may be the sufficient step in homing alone. In this case HAP can replace home switch and index pulse search, and achieve homed state right after power-on without any motion.
* If absolute encoder does not cover full motion range (i.e. single turn abs. encoder), then it may be necessary to enable also home switch or hard stop search feature. In this case HAP can replace index pulse search.
Note usage of HAP requires absolute encoder in the system (i.e. BiSS or SSI encoder).
|-
|HAO||Absolute encoder offset nulling||Allow nulling the offset of absolute encoder position.|| When HAP is enabled, the homed position will reflect to the raw position provided by the absolute encoder. HAO will allow adjusting the absolute encoder offset so that zero (or any other value) is present at user wanted position, instead of the raw encoder position.
|-
|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).
|-
|HHL|| Position soft high limit || Soft travel limit in positive direction, may be used to eliminate limit switches || Set this value to the ''highest'' 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).
|}
;Homing buttons:
*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
;See also
* [[Homing]]
* [[Hard-stop homing]]

===Stopping & braking settings===
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
|BDD||Dynamic braking deceleration||Sets the [[dynamic braking]] based deceleration rate on the event of drive disable or fault stop.||Set-up a testing motion (such as continuous position or velocity motion from Testing tab) and try hitting Escape-key to disable drive and observe the motor deceleration rate. If faster deceleration is desired, increase the value and vice versa. Approximate deceleration times at various values: 
*1 = 1.6 seconds
*2 = 0.8 seconds
*4 = 0.4 seconds
*8 = 0.2 seconds
*16 = 0.1 seconds
|-
|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.
|-
|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 a.k.a. phase search|phasing]] to prevent axis gravity fall. If unsure whether needed, leave un-ticked.
|}

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