Editing IONI & IONICUBE user guide/Motor compatibility

[[File:Servomotor and feedback.png|thumb|Typical servo motor with encoder feedback]]
==Short motor compatibility guide==
As motor is not included, make sure that you have, or obtain a motor that is compatible with IONI. Learn more about [[motor types]]. For overview of motor compatibility with visual illustrations, see [[Motor compatibility guide]].

===Servo motor requirements===
*Permanent magnet brush-DC, AC, brushless or linear motor
*Motor voltage rating 12-60 VDC (IONI supply voltage is 5 - 52 VDC)
*Motor current rating 0.5 - 15A (IONI maximum output is 15A)
*Servo motor must be equipped with an [[Feedback devices|incremental encoder]] (position sensor) with resolution of 100 to 1000000 pulses per revolution.

===Stepping motor requirements===

*Two-phase stepping motor with 0.5 - 10A current rating, no feedback device needed. Can be used in position and velocity control mode. Torque mode not possible. Stepper voltage rating is irrelevant, but generally lower voltage & higher current stepper is better.

===Unsuitable/non-optimum motors===
*Any non-permanent magnet motors: induction AC motor or DC motor with field coil - will not work
*Cheapest grade DC motor, such as one extracted from power drill - might not give satisfying performance
*Motor with very high voltage, such as 200 VAC AC servo motor - it will work if it has incremental encoder feedback, but maximum rotation speed is limited due to drive voltage. We recommend [[Argon]] for motors above 100 volts rating.

==Detailed compatibility guide==
===Compatible motor technologies===
[[motor types|Motor type]] must be one of the following (either rotary or linear):
*Permanent magnet brushed DC
*Permanent magnet brushless DC (BLDC) (magnetic pole count 2 to 100)
*Permanent magnet AC (magnetic pole count 2 to 100)
*Stepping motor (2 phase). Stepping motor is driven open loop (no feedback device is utilized).
===Compatible feedback devices===
Servomotors must be equipped with an compatible [[feedback devices]]. 
====Encoders====
If motor is equipped with '''encoder''', following types are compatible:
*Incremental [[quadrature]] output type
*Supply voltage 5V
*Single ended or differential wiring
*2-channel encoder is sufficient for all motor types (index channel and hall sensors are optional)
*Suitable encoder resolutions range from about 100 PPR to 131070 PPR (pulses or lines per revolution)
*Index channel is not required but is supported for precise [[homing]]
*Hall or commutation sensors are not required but are supported for AC/BLDC motors
*Analog SinCos encoders are supported (differential voltage signals with 1 V peak-to-peak voltage amplitude)

More than 99% if incremental encoders used today are directly compatible with IONI. 
====Limited compatibility encoders====
*Serial data communication based encoders are not currently supported. However if the serial encoder also provides incremental signal outputs, then it can be used as standard incremental encoder with Argon.

===Motor power rating===
Motor '''voltages''' and '''currents''' can introduce some limitations to motor output speed and torque but will not cause unsuitability.
*'''Motor voltage''' is the limiting factor for maximum speed. For example, if you have a 100 VDC brushed DC servo motor and run it at 50 VDC using IONI, then you can expect to get a speed of 50V/100V = 71% of motor's rated speed.  
*'''Motor current''' is the limiting factor for maximum torque. For example, if you have motor rated for 20A DC and drive's maximum output is 15A DC, then you get 15=/20A=75% of the rated torque.
====Smallest suitable motors====
IONI has [[High dynamic range torque control|high dynamic range torque control]] which makes it suitable also for very small motors, such as ones with rated current around 200 mA. 

==Need help determining compatibility?==
If not sure whether your motor is compatible, you may ask it through [[Granite Devices support]]. In inquiry please include details:
*Motor and feedback device manufacturer and part numbers
*Motor and feedback device data sheet or web link to specifications
*Feedback device wiring information (which signals are provided by feedback device)
*Motor current and voltage ratings