Granity user guide/Goals

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Goals tab

The Goals tab in the Granity 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 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 mm/s. Make sure Machine tab settings are set-up first to get correct conversion.
CVL Velocity limit Set maximum allowed velocity, effective in position & velocity modes only
CSD Stop deceleration NO EFFECT CURRENTLY
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

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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