Editing IONI & IONICUBE user guide/Drive parameterization

{{SetIUGTitle|parameterization}}{{IoniManualNav}}{{parent|IONI & IONICUBE user guide}}
This article will describe how to set-up IONI parameters with [[Granity]] to make motor operational and ready for [[Servo motor tuning guide|servo tuning]].
==Preparations and connection==
As the goal is to parameterize and make motor operational, we should have:
# The drive and motor fully wired. However it's not required to have controller or braking resistor connected at this point.
# Be familiar with the operation and parameters of [[Granity]]. Make sure you have read [[Granity user guide]].
# Granity connection working. See [[IONI & IONICUBE user guide/Making the first Granity connection]]


[[File:ionicube_tuningsetup.png|thumb|500px|center|Minimum setup for drive & motor configuration stages]]
==Walk-through of initial parametrization==
In this chapter we walk-trough all Granity tabs and modify the parameter needed. This guide assumes that the drive is in factory defaults state (not configured before). Restore drive to factory state can be done by [[Granity user guide/Uploading a firmware|uploading a firmware]] file to the drive.
{{tip|'''Experimenting with drive parameters is (mostly) safe.''' If motor is attached to machine or bench for testing and nothing is attached to shaft (so motor can't jump but it can spin freely), then playing with all drive parameters can be regarded safe. The most important parameters are proper motor {{param|MMC}} and {{param|MCC}} to avoid overheating of motor. If unsure of proper current limits, start with low values and increase gradually if motor stays cool.}}
===Connect tab===
No other actions than connect to drive needed on this tab. Once connection successful, proceed to the next tab.
===Goals tab===
The factory defaults (torque control as control mode and serial only as setpoint) as well as the other defaults are the correct ones for beginning.
===Machine tab===
In this tab we configure the motor and its feedback device.
====Axis mechanics====
Parameters {{param|AXT}} and {{param|AXS}} affect only on the [[Granity unit conversion|unit conversion of Granity]] parameters (such as acceleration/velocity limit unit conversions) and has no effect on drive operation.

Choose your axis type and scale, or leave them as defaults. 
====Motor====
Find motor parameters from the motor data sheet/manufacturer specifications.
#Choose motor type from the drown down list {{param|MT}}. If motor is linear type, see [[configuring linear servo motor]]. If setting up a '''stepping motor''' instead of servo motor, see [[Using stepping motor with IONI]].
#Set motor {{param|MPC}} (non-brush DC motors only). If unsure, see [[Determining motor pole count]].
#Set {{param|MMS}} of the motor, or alternatively the maximum allowed motor speed in the target application
#Set motor {{param|MMC}} and {{param|MMC}} current values. If non-brush DC motor type has been selected, then these are measured as the [[peak value of sine]]. See [[Motor peak and continuous current limits]] for description.
#Set {{param|MTC}}. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with {{param|MMC}}. 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.
#Setting motor {{param|MR}} and {{param|ML}} values are required for proper drive operation. Do this by using the [[Measure motor resistance and inductance in Granity|Granity's measurement function]] after drive is enabled and operating the first time. If this method fails, perform [[Tuning torque controller]] manually after initial parameters are set or find motor inductance & resistance values from your motor data sheet.
{{tip|As torque is directly proportional to motor current, it is advisable to set current limits lower at the beginning of testing. I.e. 50% of motor's rated current will produce 50% of motor's rated torque.}}

{{tip|Using [[Measure motor resistance and inductance in Granity|resistance & inductance measure function]] the recommended approach to set MR and ML parameters accurately even when motor data sheet would provide these values. This is because many data sheets unfortunately provide inaccurate values. Some manufacturers have apparently characterized motor inductance at high frequency range (hundreds of kHz) which typically gives a value more than 50% off from the real inductance.}}

====Feedback device====
#Choose feedback device type from the drop down {{param|FBD}}
#Set feedback device resolution. If {{param|FBD}} is [[quadrature]] encoder, then manufacturers typically give resolution as pulses per revolution (PPR) or lines per revolution (LPR) which are the same thing and shall be entered directly into {{param|FBR}} field. Some manufactures also call PPR as CPR.
#Configure the polarity of feedback device counting direction by {{param|FBI}} parameter. 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.
#Leave the Hall sensors Off from parameter {{param|FBH}} during initial setup. Enable later if necessary ([[Hall sensors|see when]]).
===Tuning===
Tuning tab contains feedback gain values for velocity and position control modes as well as torque bandwidth limit setting. Configuring these parameters are documented in [[Servo motor tuning guide]]. However, before proceeding into tuning, go through all other settings listed in this article.
===Fault limits===
Fault limits define the conditions in which drive is willing to operate. If condition is out of the set values, drive will enter into a fault state and stop motor control until errors are cleared.
====Drive fault limits====
These settings specify drive electrical condition such as supply voltage and over current tolerance. 
#Leave {{param|FOC}} value as default if no overcurrent faults occur. See [[Tuning torque controller]] if overcurrent faults occur.
#Set {{param|FOV}} following way depending on your [[HV DC bus]] supply voltage. Set FOV value at least 10% higher than nominal HV DC bus voltage. Examples:
##24 VDC regulated power supply, try value of 32 VDC
##48 VDC regulated power supply, try value of 54 VDC
#Set {{param|FUV}} so that drive will not trigger undervoltage fault during varying load of HV DC bus. Example:
##24 VDC regulated power supply, try value of 19 VDC
##48 VDC regulated power supply, try value of 35 VDC

#It is important to goal deviation faults (i.e. {{param|FFT}}, {{param|FPT}}, {{param|FVT}}, {{param|FEV}}) as low as possible. Set them so that faults don't occur during normal operation but any anomaly or unexpected behavior will trigger them.
{{warning|If goal deviation faults are unnecessary high, drive may pose a danger in case of unexpected behavior. For example if motor starts running away full speed without command, then proper velocity fault threshold values may save from damage.}}
{{info|Overvoltage limit parameter FOV also determines the voltage level when drive starts driving current to the [[regenerative resistor]]. If you experience constant heating of the resistor, increase FUV value.}}
====Goal deviation faults====
These faults adjust motor monitoring during operation. Drive will enter into fault state if motor condition deviates more than allowed from the desired condition. See [[Granity unit conversion]] before adjusting.
#Goal {{param|FFT}} sets the time how fast {{param|FPT}}, {{param|FVT}}, {{param|FEV}} and {{param|FMO}} faults react. Setting higher time value allows drive to continue operation over short deviations thus avoid false triggering. Set this from 0.0 to 0.2 seconds in the beginning.
#Set {{param|FPT}} according how much mechanical axis is allowed to deviate from the setpoint position in position control mode. 
#Set {{param|FVT}} according how much motor or axis speed may may deviate from the velocity setpoint. This affects also in position mode as velocity controller is the intermediate step between torque and position controllers.
#Set {{param|FEV}} according to the maximum speed allowed for the motor or axis. Helps to stop motor if system goes totally out of control and speeds up spuriously.
#Leave {{param|FMO}} as 0 (0 = disabled) for the beginning. Using nonzero value enables motion fault.
#Choose {{param|LFS}} according to your preference. If other than ''Do nothing'' option requires that limit switches are installed and connected to J5 port. Note: at the moment ''Servo stop'' option is active in the drive [[firmware]] and will do nothing until FW upgrade enables it.
===Testing tab===
These settings does not affect drive operation, so nothing to be changed here at this point. These controls will be used for servo tuning purposes and fault analysis.

==Enabling drive==
In order to test any configuration you make, you need to set drive in enabled state. This involves that:
#Drive is powered on (logic & [[HV DC bus]])
#Enable signal is powered. 
##If no physical enable signal is wired, you may click Force enable drive from Connect tab to temporarily enable without physical signal. Note that Force enable will release (inactivate) if any of following physical inputs change state: Enable, Limit switches or Home switch.
#[[STO]]2 input is powered
#{{param|MT}} is configured
#If {{param|CEN}} is enabled, then also click Soft enable drive from Connect tab

==Servo motor tuning==
Tuning a servo motor is a compulsory task to make motor behave as desired and perform well during operation. Follow the [[Servo motor tuning guide]].
==Finishing touches==
The last step of parameterization is to adapt settings to match the motion [[controller]]. Steps:

# Choose [[setpoint]] input {{param|CRI}} to match your motion [[controller]].
# If external motion [[controller]] with acceleration limit (such as CNC controller) is being used, then it is advised to set {{param|CAL}} value to maximum of 32767 (unlimited acceleration) after [[Servo motor tuning guide|motor tuning]] to enable motion tracking without delay. Use a limited acceleration value if drive is being used with [[Pulse burst positioning|pulse burst positioning]] or [[SimpleMotion V2]] controller.
# If [[setpoint]] is too sensitive or not sensitive enough (such as limiting speed), then adjust setpoint scaling factory by adjusting {{param|MUL}} and {{param|DIV}}.
#If [[setpoint]] signal is noisy or jittering, try enabling {{param|CIS}} to smoothen it inside drive. However, leave {{param|CIS}} disabled if setpoint tracking without any delay is desired.
#Set-up [[homing]] if required by application
{{next|[[Granity user guide]]}}