Granity user guide/Goals

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Revision as of 14:06, 14 August 2013 by Tero K (Talk | contribs) (Parameters)


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Granity Goals tab

The Goals tab in the GDtool 3 serves following purpses:

Parameters

Drive function

Short GUI name GUI name Description How to use
CM Control mode Select drive operating control mode Select Torque, Velocity or Position mode.

Setpoing input signal

Short GUI name GUI name Description How to use
CRI Setpoint input Source the of setpoint signal Choose one from Serial only SMV2, Pulse and direction, Quadrature, PWM or Analog setpoint
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.
CAS Setpoint scaling factor Variable to adjust the scale of setpoint signal Value of 100% will pass the setpoint unchanged through the setpoint scaler. For example setting 200% here 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).

Motion dynamics - a.k.a. velocity & acceleration limits

Short GUI name GUI name Description How to use
CAL Acceleration limit
CVL Velocity limit
CSD Stop deceleration NO EFFECT CURRENTLY
CRV Error recovery velocity

Homing settings

Short GUI name GUI name Description How to use
HME Homing enabled
HMS Home switch polarity
HMI Index pulse search
HMH Hard stop detection threshold
HMT Motor current limit during homing
HMV Homing velicty limit
HMA Homing acceleration limit
HMF Offset home after homing
HFO Full speed offset move
HLL Position soft low limit
HHL Position soft high limit

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