Editing Granity user guide/Goals
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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. | |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. | + | |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. | 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. | ||
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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 velocity 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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{{next|[[Granity user guide/Machine]]}} | {{next|[[Granity user guide/Machine]]}} | ||
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