Difference between revisions of "Granity user guide/Machine"

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(Position feedback device)
(Motor parameters)
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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]].
 
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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.
 
| 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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| 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.
 
| 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===
 
===Position feedback device===
 
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Revision as of 19:18, 14 August 2013

The Machine tab serves following purposes:

  • Choose axis type (linear/rotary) and its scale
  • Set motor type and properties
  • Set feedback device types and properties

Parameters

Axis mechanics

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 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 unit conversion of Granity parameters (such as accel/velocity limit unit conversions), no effect on drive operation.

Motor parameters

Short GUI name GUI name Description How to use
MT Motor type Motor type to be driven Choose your motor type
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 Continuous current limit Motor continuous current limit (peak value of sine in AC/BLDC modes, not RMS) 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 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.
MR Coil resistance Motor phase-to-phase winding resistance See motor data sheet and enter the value here
ML Coil inductance Motor phase-to-phase winding inductance
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.

Position feedback device

Short GUI name GUI name Description How to use
FBD Feedback device Position feedback device type attached to the axis Choose connected device type. Use only the ones that are currently supported in the firmware. Currently only Quadrature encoder 1 is supported.
FBR Feedback device resolution Resolution of the feedback device per revolution In case of quadrature encoder choose number of lines or pulses per revolution.
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 Hall sensors Configure Hall sensors if available If motor Hall sensors are connected and wires, choose option from the list to utilize them.


Short GUI name GUI name Description How to use