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

See also:
*[[Drive fault handling]]

==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>
|}
===Jogging===
'''Set Abs''' or '''Absolute set TSPx''' button set the TSP1 or TSP2 value immediately as setpoint. 

'''Set Inc''' or '''Increment by TSPx''' 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.

'''Set zero setpoint''' button resets setpoint to 0. Remember, if you need quick stop, rather use hotkey Esc to disable drive, or press physical E-stop button if wired.

==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 bits===
{{Template:DriveStatusbits}}

{| class="wikitable"
|-
! Name !! Description 
|-
| HV bus voltage || A measured [[HV DC bus]] voltage. If drive is supplied by AC voltage, then this should be approximately 1.41 times AC RMS voltage.
|-
|Output current|| Actual measured motor current
|-
|Velocity feedback||Actual measured velocity of motor (hardware scale)
|-
|Position feedback ||Actual measured position of motor (hardware scale/encoder counts)
|-
|Setpoint value||Actual [[setpoint]] value
|}

===Fault register bits===
{{Template:DriveFaultbits}}
==Troubleshooting==
*[[Fault location]] helps to identify the source of faults if nonzero
{{next|[[Servo motor tuning guide]]}}
@@ Line 26: / Line 26: @@
 |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>
+|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>
 |}
 ===Jogging===
@@ Line 55: / Line 55: @@
 {{Template:DriveStatusbits}}
-=== Readings ===
 {| class="wikitable"
 |-
@@ Line 61: / Line 60: @@
 |-
 | HV bus voltage || A measured [[HV DC bus]] voltage. If drive is supplied by AC voltage, then this should be approximately 1.41 times AC RMS voltage.
-|-
-|Device temperature|| Actual measured temperature if drive power stage
-|-
-|Actual current limit
-|The current level which is the maximum that drive will deliver to motor at the moment. In normal case it is same as {{Param|MMC}}. If it's below it, see explanations below.
-|-
-|Last limit reason
-|The reason why drive is or has been recently throttling current from the maximum value. Possible reasons are:
-* None or Settings - these mean that no reason to limit current, except user parameter values such as {{Param|MMC}}
-* [[I²t protection]] - this means that calculated motor temperature is at maximum and drive sets limit to {{Param|MCC}}
-* Voltage - drive was unable to deliver desired current because [[HV DC bus]] voltage was insufficient to overcome motor's back-EMF voltage and other voltage losses. Increasing HV DC voltage might help to eliminate this.
-* Temperature - device temperature causes throttling of current. Increasing cooling of device may help.
-* Power limit - device is clipping current to avoid exceeding the maximum output power specified by {{Param|MPP}}
 |-
 |Output current|| Actual measured motor current
-|
 |-
-|Velocity feedback||Actual measured velocity of motor (in physical units)
+|Velocity feedback||Actual measured velocity of motor (hardware scale)
-|-
-|Velocity feedback (raw)
-|Velocity feedback (in hardware scale, typically number of encoder counts moved within 400 µs period)
 |-
 |Position feedback ||Actual measured position of motor (hardware scale/encoder counts)
@@ Line 93: / Line 75: @@
 *[[Fault location]] helps to identify the source of faults if nonzero
 {{next|[[Servo motor tuning guide]]}}
-[[Category:Granity_user_guide]]