Editing Granity user guide/Machine

{{SetGranityTabPageTitle|Machine}}[[File:GranityMachine.png|thumb]]
The Machine tab serves following purposes:
* Choose axis type (linear/rotary) and its scale
* Set motor type and properties
* Set [[Feedback devices|feedback device]] types and properties
==Parameters==
===Axis mechanics===
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
|  AXT|| Axis type & units  || Select axis type and real world units used || Choose your mechanical axis type here. AXT and AXS affect only the [[Granity unit conversion|unit conversion of Granity]] parameters (such as accel/velocity limit unit conversions), no effect on drive operation.
|-
|  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 [[Granity unit conversion|unit conversion of Granity]] parameters (such as accel/velocity limit unit conversions), no effect on drive operation.
|-
| AXT|| Invert direction || Set the positive direction of axis||State of this checkbox determines which rotation/travel direction is positive and which negative. Change this to invert the direction of axis.
|}

===Motor parameters===
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
| MT || Motor type || Motor type to be driven  || Choose your [[motor types|motor type]]. 
* If motor is linear type, see [[configuring linear servo motor]]
* If motor is stepping motor, see [[Using stepping motor with IONI]]
|-
| MMS || Maximum speed || The maximum allowed speed of the motor. || Check the motor datasheet for correct value.
|-
| MPC || Pole count || Set motor magnetic pole count (not in DB motors)  || Set number of magnetic poles present in the AC/BLDC motor according to motor specifications. If not specified, see [[Determining motor pole count]] or in case of linear motor, see [[Configuring linear servo motor]].
|-
| MCC || [[Motor peak and continuous current limits|Continuous current limit]] || Motor continuous current limit ([[Peak value of sine|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.
|-
| MMC || [[Motor peak and continuous current limits|Peak current limit]] || Motor peak current limit ([[Peak value of sine|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.
|-
| MR || Coil resistance || Motor [[phase-to-phase]] winding resistance|| rowspan="2" |See motor data sheet and enter the value here. If unknown, see [[Tuning torque controller]].
|-
| ML || Coil inductance ||Motor [[phase-to-phase]] winding inductance 
|-
| MTC || [[Motor peak and continuous current limits|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 200*motor_weight (kg) as approximate, so a 2 kg motor would get a 400 second time constant. There is no guarantee of accuracy of this method.
|-
|MPP
|Peak power limit
|Sets the upper limit of power that drive is allowed to feed into motor. If power limit is about to exceed, drive will start throttling current to limit the power consumption of motor.
|This is most useful when using switching mode power supplies that might fault under overload conditions (causing under voltage fault in drive). In such case, set this to match power supply rating or below the rating.
|}

===Position feedback device===
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
| FBD || [[Feedback devices|Feedback device]]  || Position feedback device type attached to the axis || Choose connected device type. Refer to your drive specifications for supported feedback device choices. Note that if unsupported FBD is selected, drive will indicate an error and refuses to initialize.
|-
| FBR || Feedback device resolution || Resolution of the feedback device per revolution || In case of [[quadrature]] encoder choose number of lines or pulses per revolution. Make sure to enter resolution of feedback device ''before'' 4x quadrature decoding (encoder real resolution is 4 times the number of lines per revolution).

If limited motion range and [[Tracking error|tracking error fault]] after certain travel distance is observed, try dividing this parameter value by 4 or multiplying by 4.

If using '''SinCos''' feedback device, multiply encoder line count by the selected interpolation factor and enter it as the feedback device resolution. I.e. if SinCos encoder has 1024 lines/sincos cycles per revolution, and you are using 64X interpolation, then set FBR as 1024*64=65536 PPR.
|-
| 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.
|-
| FBH || [[Feedback devices|Hall sensors]] || Configure Hall sensors if available || If motor Hall sensors are connected and wires, choose option from the list to utilize them. 
|}
{{next|[[Granity user guide/Tuning]]}}
@@ Line 14: / Line 14: @@
 |  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 [[Granity unit conversion|unit conversion of Granity]] parameters (such as accel/velocity limit unit conversions), no effect on drive operation.
 |-
-| AXI|| Invert direction || Set the positive direction of axis||State of this checkbox determines which rotation/travel direction is positive and which negative. Change this to invert the direction of axis.
+| AXT|| Invert direction || Set the positive direction of axis||State of this checkbox determines which rotation/travel direction is positive and which negative. Change this to invert the direction of axis.
 |}
@@ Line 66: / Line 66: @@
 |}
 {{next|[[Granity user guide/Tuning]]}}
-[[Category:Granity user guide]]