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===
{| 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 || Indicates that tracking error has increased beyond certain point. On most drives this controls a digital output pin that may be used in conjunction with [[controller]] to mitigate a tracking error problem before a tracking error fault is triggered. Operation depends on operating mode:
* Position mode: true when position tracking error is greater than 1/8 of {{param|FPT}} 
* Velocity mode: true when velocity tracking error is greater than 1/8 of {{param|FVT}}
* Torque mode: true when actual torque differs from torque setpoint more than 1/4 of {{Param|MMC}}. This is not present in {{G2.0}}, and on that drive it will always read ''false''.
||
|-
| 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||
|-
| 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 {{param|FUV}} to {{param|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.||
|}

=== Readings ===
{| 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.
|-
|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 (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)
|-
|Setpoint value||Actual [[setpoint]] value
|}

===Fault register===
{| class="wikitable"
|-
! Name !! Description !! Troubleshooting
|-
|Tracking error || Drive stopped due to position or velocity tracking error getting larger than configured limit ({{param|FPT}} or {{param|FVT}})|| Check settings, operating conditions and fault limits to resolve.
|-
|Over velocity||Motor has exceeded the speed limit defined at {{param|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 {{param|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 {{param|FUV}} value|| Check voltage, parameters and [[Safe torque off|safe torque off]]
|-
|Over voltage||[[HV DC bus]] voltage above {{param|FOV}} value|| Check voltage and {{param|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 {{param|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 {{param|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 ||
|-
|Fault location ID||See [[Fault location]]||
|}

==Troubleshooting==
*[[Fault location]] helps to identify the source of faults if nonzero
{{next|[[Servo motor tuning guide]]}}