Editing Granity user guide/Machine
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The Machine tab serves following purposes: | The Machine tab serves following purposes: | ||
* Choose axis type (linear/rotary) and its scale | * Choose axis type (linear/rotary) and its scale | ||
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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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− | | AXT|| Axis type & units || Select axis type and real world units used || Choose your mechanical axis type here. AXT and AXS affect only the | + | | AXT|| Axis type & units || Select axis type and real world units used || Choose your mechanical axis type here. AXT and AXS affect only the unit conversion of Granity parameters (such as accel/velocity limit unit conversions), no effect on drive operation. |
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− | | AXS|| Axis scale || Set axis travel per motor revolution || Determine how much your axis moves per revolution and enter it here. I.e. if you have selected ''Linear[mm]'' as AXT, then calculate and enter how many millimeters axis moves per revolution. AXT and AXS affect only the | + | | AXS|| Axis scale || Set axis travel per motor revolution || Determine how much your axis moves per revolution and enter it here. I.e. if you have selected ''Linear[mm]'' as AXT, then calculate and enter how many millimeters axis moves per revolution. AXT and AXS affect only the unit conversion of Granity parameters (such as accel/velocity limit unit conversions), no effect on drive operation. |
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===Motor parameters=== | ===Motor parameters=== | ||
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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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− | | MT || Motor type || Motor type to be driven || Choose your [[motor types|motor type | + | | MT || Motor type || Motor type to be driven || Choose your [[motor types|motor type]] |
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− | | | + | | MCC || Continuous current limit || Motor continuous current limit (peak value of sine in AC/BLDC modes, not RMS)|| rowspan=2|Use value from your motor data sheet or any lower value to reduce torque. If your AC/BLDC motor phase current is specified as RMS value, then multiply it with 1.41 to get peak value of sine. |
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− | | | + | | MMC || Peak current limit || Motor peak current limit (peak value of sine in AC/BLDC modes, not RMS). Drive outputs this current to motor for max of 2 second duration and then falls back to the continuous limit (MCC). MCC will be also used if motor temperature modeling (see MTC) indicates maximum temperature. |
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− | | | + | | MR || Coil resistance || Motor phase-to-phase winding resistance|| rowspan=2|See motor data sheet and enter the value here |
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− | | | + | | ML || Coil inductance ||Motor phase-to-phase winding inductance |
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− | | | + | | MTC || Thermal time constant || Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with peak current (MMC) || Refer to your motor data sheet for correct value. If not available, use formula 300*motor_weight (kg) as approximate. |
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+ | ===Position feedback device=== | ||
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− | + | ! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use | |
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− | | | + | | FBD || [[Feedback devices|Feedback device]] || Position feedback device type attached to the axis || Choose connected device type. Use only the ones that are [[Argon specifications|currently supported]] in the firmware. Currently only Quadrature encoder 1 is supported. |
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− | If | + | | FBR || Feedback device resolution || Resolution of the feedback device per revolution || In case of [[quadrature]] encoder choose number of lines or pulses per revolution. |
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+ | | FBI || Invert feedback direction || Set polarity of feedback device counting direction || Motor and feedback device must have same electrical positive rotation direction to make a stable servo system. If your system shows no stability (instant following error after a motor "jump"), try changing this setting. | ||
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− | | | + | | FBH || Hall sensors || Configure Hall sensors if available || If motor Hall sensors are connected and wires, choose option from the list to utilize them. Hall sensors |
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