Editing Granity user guide/Testing

{{SetGranityTabPageTitle|Testing}}[[File:GranityTesting.png|thumb]]
This tab serves following purposes:
* Running repeating test sequence on motor
* Capturing reference signal & feedback graphs from drive

==Test stimulus generator==
[[File:stimulus.png|thumb|Test stimulus as numeric parameters and it's graphical representation]]
Test stimulus generator is a way to feed a repeating [[setpoint signal|setpoint signal]] to the drive without having any other physical signals supplied. Test stimulus generates a square waveform with user specified amplitudes and timing.

The waveform generated is specified by 4 parameters:
{| class="wikitable"
|-
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
|-
|TSP1||Target setpoint 1|| The first setpoint level || Adjust the value and observe the right side value conversion to the real world units such as amperes or millimeters.
|-
|TSD1||Delay 1|| The active duration of the first setpoint || Set the duration of the first setpoint lenght. 
|-
|TSP2||Target setpoint 2|| The second setpoint level || Adjust the value and observe the right side value conversion to the real world units such as amperes or millimeters.
|-
|TSD2||Delay 2|| The active duration of the second setpoint || Set the duration of the second setpoint length. 
|-
|TSE||Enable test stimulues|| Control test stimulus feed || Tick this checkbox to instantly start feeding test stimulus to the drive. Before ticking ensure that setpoints are set to safe levels and always be prepared stop motor safely if unexpected motion happens.
|-
|Example where <br>TSD1=0.1s<br> TSD2=0.5s<br> TSP1=1000→0.18A<br> TSP2=-500→-0.09A||colspan=3|<center>[[File:Stimulusgraph m.png]]</center>
|}
===Set Abs and Set Inc buttons===
'''Set Abs''' button set the TSP1 or TSP2 value immediately as setpoint. 

'''Set Inc''' button does the same as Set Abs, but instead of setting absolute value, setpoint is being incremented. I.e. if TSP1=100 and click 5 times Set Inc, then setpoint value becomes 500.
==Capture & graphs==
===Capture controls===
Options are:
*[TSR] Sample rate - choose the sampling rate of the signals. The higher sampling rate used, the higher level detail will be captured (good to observe sharply changing edges of signal) but at the same time lenght of recorded capture will be shorter. Lower sample rate loses some detail, but gives longer capture duration.
*Capture trigger dropbox - choose one of the following:
**Capture instantly - Start capture button starts capture immediately
**Capture in fault - Start capture button waits until drive faults and begins capture at the moment of fault occurring
**Capture on setpoint change - Start capture button waits until setpoint is modified
**Capture on setpoint change in positive direction - Start capture button waits until setpoint is modified in positive direction (capture not occurring if setpoint value is reduced)
*Continuously repeating capture - if ticked, capture will be repeating continuously. Useful with test stimulus generator.

===Capture signals selection===
Tick the checkboxes to choose which signals to capture and display on the graph. The more signals selected, the less the capture duration will be. I.e. if one chooses 4 signals instead of 2, the time of capture will reduce to 1/2.

==Device state==
Devices state updates continuously while connected and shows status & fault register bits as well as state of physical I/O lines and setpoint value.

===Status===
{| class="wikitable"
|-
! Name !! Description !! Troubleshooting
|-
| Initialized || True when drive has completed initialization procedure (such as [[Phasing a.k.a. phase search|phasing]]) || If never goes on, check parameters, drive input voltage, [[safe torque off]] and enable inputs and possible faults.
|-
| Error recovering || True when drive performs position return to the setpoint position after clear faults command is given || 
|-
| Tracking error warn || True when position or velocity tracking error is greater than 1/8 of fault limit ([[FPT]] or [[FVT]]) ||
|-
| Target reached || True when drive's internal motion profiler (velocity & acceleration limited motion) has reached the user setpoint value||
|-
| Enabled || True when drive has enabled state on. This allows drive to control motor if no faults are active.||
|-
| Run || True when drive is initializing or controlling motor. Goes false if enabled is false or faults are active||
|-
|Homing active|| True when drive is performing homing sequence. Goes false after homing is complete or not enabled||
|-
| Braking|| True when motor is being braked electrically and/or mechanically||
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| Permanent stop|| True when drive requires restart before continuing motor control. Goes true when changing certain parameters or if initialization fails|| Restart drive to see if the state clears. If not, check parameterization and usage errors.
|-
|Voltages good|| True when [[HV DC bus]] voltage is withing configured range (from [[FUV]] to [[FOV]])||
|-
| Fault stopped|| True when drive is disabled true to active fault state|| Perform clear drive faults function (from Connect tab). If problem repeats, check motor & tuning parameters and operating conditions. See fault register and fault location for hints.
|-
|Ready for use|| True when drive has performed all initializations, possible homing and is enabled and running. When true, drive is ready to follow user setpoint commands||
|-
|STO active||True when [[Safe torque off|safe torque off]] is active. In Argon this monitors only STO2.||
|}

===Fault register===
{| class="wikitable"
|-
! Name !! Description !! Troubleshooting
|-
|Tracking error || Drive stopped due to position or velocity tracking error getting larger than configured limit ([[FPT]] or [[FVT]])|| Check settings, operating conditions and fault limits to resolve.
|-
|Over velocity||Motor has exceeded the speed limit defined at [[FEV]]||
|-
|Hardware||Drive internal error has occurred||Possibly external interference (check wiring and [[EMI]] suppression) and stability of logic supply voltage. If problem stays, contact [[Granite Devices support]].
|-
|Over temperature||Drive temperature has exceeded its maximum value||
-
|Feedback||Failure in feedback device has been detected||
|-
|Over current||Measured current was exceeding the limit value (current spike)||Check wiring or try different [[FOC]] value
|-
|Internal comm error||Drive internal error has occurred||Possibly external interference (check wiring and [[EMI]] suppression) and stability of logic supply voltage. If problem stays, contact [[Granite Devices support]].
|-
|Power stage forced off||True when some of the fault states is forcing power stage off to protect drive. Motor is freely spinning unless braked mechanically.||
|-
|Under voltage || [[HV DC bus]] voltage below [[FUV]] value|| Check voltage, parameters and [[Safe torque off|safe torque off]]
|-
|Over voltage||[[HV DC bus]] voltage above [[FOV]] value|| Check voltage and [[FOV]]. If happens during motor deceleration, then a [[Argon user guide/Braking resistor|braking resistor]] is needed.
|-
|Motion range||Motor has been commanded outside the allowed travel boundary. I.e. driven to limit switch when [[LFS]] is set to fault stop||
|-
|Firmware error||Drive internal error has occurred||Possibly external interference (check wiring and [[EMI]] suppression) and stability of logic supply voltage. If problem stays, contact [[Granite Devices support]].
|-
|Init||Initialization failed. Possible reasons: drive disabled or faulted during initialization or initialization time-outed||Check enable signal, parameters, wiring and faults
|-
|Motion||Motor stall or loss of feedback signal detected||Adjust [[FMO]] to larger value or disable it
|-
|SimpleMotion||[[SimpleMotion V2]] Communication error detected, possibly connection lost, invalid parameter value is sent or transfer error caused by [[EMI]] or bad wiring ||
|}

==Troubleshooting==
*[[Fault location]] helps to identify the source of faults if nonzero