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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 [[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. | ||
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− | | | + | | 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. |
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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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| 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]]. | | 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]]. | ||
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− | | MCC | | + | | MCC || 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. |
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− | | MMC | | + | | MMC || 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. |
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− | | MR || Coil resistance || Motor [[phase-to-phase]] winding resistance|| rowspan= | + | | 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]]. |
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| ML || Coil inductance ||Motor [[phase-to-phase]] winding inductance | | ML || Coil inductance ||Motor [[phase-to-phase]] winding inductance | ||
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− | | MTC | | + | | 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 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. | 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. | ||
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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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− | | FBD || [[Feedback devices|Feedback device]] || Position feedback device type attached to the axis || Choose connected device type. | + | | 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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− | | FBR || Feedback device resolution || Resolution of the feedback device per revolution || In case of [[quadrature]] encoder choose number of lines or pulses per revolution | + | | 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. | | 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 || [[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. | | 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. | ||
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