IONI parameterization

This page collect most of the IONI & IONICUBE user guide articles as a single page.

Introduction to IONI

IONI
Device type	Servo & stepping motor drive
Model number	IONI-11K000, IONI-11K200
Supported motors	AC, DC, BLDC, Linear, Stepper
Control modes	Position, Velocity, Torque
Status	Active production, started 2015
Electrical
DC supply voltage	5 - 54 VDC (except 5 - 58 VDC in IONI Pro HC)
Output current range	0.1 - 15A IONI, 0.1 - 18A IONI Pro, 0.1 - 25A IONI Pro HC
Setpoint signals	Pulse and direction, PWM, Analog, SimpleMotion V2
Feedback devices	Quadrature encoder, SinCos encoder
General
Configuration tool	Granity
Web site	Granite Devices IONI
Compliance	CE (EMC & LVD directives)
3D model	IGES & STEP

PDF version of IONI flyer. Download.

IONI is a digital motor drive designed for driving AC/BLDC and DC servo motors and steppers. IONI allows controlling motors in all three operating modes: position control, velocity control and torque control (torque mode only with servo motors). Applications of such control methods include

• Position control, such as CNC, robotics and 3D printing
• Velocity control, such as spindles or feeders
• Force / torque control, such as racing simulator wheel

Commands to IONI drive can be delivered in many formats and from many sources, such as PC, PLC, microcontroller (i.e. Arduino, MBED and OEM boards) or embedded computers like Raspberry Pi. IONI understands several forms of setpoint commands:

• Step & direction digital signals (typical stepper drive interface, good for position control)
• Analog +/-10V signal (good for speed or torque control)
• PWM signal (good for speed or torque control)
• RS485 serial bus (talks SimpleMotion V2 bus protocol, open source library available)

Supported motors

As motor is not included, make sure that you have, or obtain a motor that is compatible with IONI. Learn more about motor types.

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 0.1 - 25A (choose drive model accordingly, IONI Pro HC, maximum output is 25A, IONI Pro 18A, and IONI 15A)
• Servo motor must be equipped with an supported feedback device (position sensor / encoder).

See Motor compatibility guide for more details.

Stepping motor requirements

• Two-phase stepping motor with 0.5 - 15A 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. Consider Argon servo drive for motors above 100 volts rating.

Features

State of the Art

• High dynamic range torque control
• Wide range motor support, from DC, BLDC, AC and Linear, from 5 W to 500 W
• High functional density and cost efficiency
• 3-level PWM output with reduced motor heating
• Automatically measures motor inductance and resistance for easy setup
• Anticogging / torque ripple compensation

Control

• Input setpoint signals including pulse and direction, quadrature, analog and PWM
• Multidrop & multiaxis capable real-time SimpleMotion V2 field bus for setup & control
• Internal axis homing function with sensorless hard-stop operating mode

Protections & Ruggedness

• Safe torque off
• Prevent machine damage via I²t (motor temperature modeling), blocked motion and tracking error detection
• Industry leading ruggedness: over current, short circuit, over voltage, under voltage and over temperature protections, data/communication error detection
• Warranty 24 months
• Charge pump enable input for safety

Applications

• Industrial servo & stepping motor control
• Robotics
• Industry 4.0 systems
• Testing equipment
• CNC
• Haptics
• Racing & flight simulators
• Pick'n'place machines
• Defense systems

Functionality and specifications

See main article IONI specifications.

Documentation & user guides

See the main article IONI & IONICUBE user guide.

Availability

Shipping worldwide at Granite Devices web shop.

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Set-up overwies & first connection

This is the official and latest setup guide of IONI Servo Drive and IONICUBE motherboards. Read it through before installing or operating IONI series devices.

Setup process overview

Read trough the guide by following the outline on the top right side of the page and follow the hyper links to subtopics provided in the articles.

Read the page List of things needed for details.

Connect drive to PC with SimpleMotion V2 USB adapter and Granity to test connection, upgrade firmware if necessary and to learn Granity. If you're already familiar with all this, you may skip this step. Read the article Making the first Granity connection.

Carefully do the full wiring of the servo system. Consult an qualified electrician if necessary as dangerous voltages will be present. Before powering up, triple check everything by using multimeter to find short circuits. Read the main article Wiring.

Power-up the system and connect again with Granity. Now set-up the motor to work as intended. See the main article Drive parameterization. If you already have a working configuration to your motor model, you may just load the settings file to the drive.

After motor and drive are fully functional, connect motor to the mechanical load and find the optimum velocity or position control gains. Read the main article Servo motor tuning guide.

Troubleshooting

In case of troubles, refer to the articles in general troubleshooting category and IONI troubleshooting category.

List of items needed

The list of necessary things to build a working servo system with IONI

• IONI drive and a compatible motherboard such as IONICUBE, IONICUBE 1X or a custom board
• SimpleMotion V2 USB adapter
• 1 or more RJ45 Ethernet cables (see details & examples)
• Regulated 24 VDC power supply, output capability at least 0.5A per motherboard
• Regulated or non-regulated 5-52 VDC power supply for motor power. Output capability depends on motor power draw. If unsure, then a good start is a power supply between 150 to 600 Watts for a multiaxis motherboard. As a reference, a typical 3 axis Nema 23 stepping motor system can be fed with a 150-200 W 48 V power supply. See:
  • IONI power supply schemes
  • Estimating power need of motor drive system
• A IONI compatible motor
• Shielded power conductors as motor power cord. Non-shielded will also work but increase EMI and may be source of communication errors.
• Ferrite core EMI filters
• Motion controller. This may be also a software on a computer.
• Windows PC

Optional but highly recommended items

• Emergency stop button (normally closed NC type) or equivalent

Needed for high current motors (>5A average)

• A cooling fan

Tools needed

• Screwdrivers
• Wire cutter

Skills needed

• Qualified electrician skills
• Basic knowledge of servo systems

Making the first Granity connection

Follow the instructions to make the first Granity connection to IONI drive.

Preparations

1. Download and install the Granity software. Latest version can be downloaded from the link: Granity software for windows (approx 18 MB)
2. Make a wiring similar to the image below
   • With IONICUBE 4X revision 008 and lower, make sure that in the pinheader JP10 only position 1 has a jumper as depicted.
   • With IONICUBE 4X revision 009 and higher, make sure that the switch S1 position 1 is ON and position 4 (DFU mode) is OFF.
   • If you use a USB cable to connect (r. 009 and higher), turn also S1 position 2 and 3 ON.
3. Connect IONICUBE to a PC
   • with SimpleMotion V2 USB adapter and a straight Ethernet cable to connector X1, or
   • with an USB cable without any adapters.
4. Power up the 24 VDC power. Leds at the back of the IONI drive should start blinking (more about blinking sequences).
5. Launch Granity software and:
   1. Go to Connect tab
   2. Ensure that "SimpleMotion V2 Adapter" is selected from dropdown menu called Communication interface device. (note 1)
   3. Click Connect to drive
   4. Once list of connected drives pop up, select the one you connected and click Open

Now if everything has gone well, you should see information about the drive model and serial number on the "Connect tab". Connection has been successfully tested and drive may be disconnected to proceed with next setup step.

Note 1) If multiple choices are named as "SimpleMotion V2 Adapter", then try each of them to find the correct one. Also if no adapters are found, try launching Granity software again as the list of adapter choices are updated only at program start-up.

IONICUBE Revision 1-8 (with jumpers)

Minimum connection for Granity

IONICUBE Revision 9 and later (with DIP switch)

SM Bus termination switch position for IONICUBE revision 009 and higher. For typical single IONICUBE wiring, set switches 1-3 to ON position and 4th OFF position.

More information about the termination and biasing of the RS485 serial bus here: Wikipedia:RS-485.

Wiring overwiew

IONICUBE connectors

X1

Dual port RJ45 connector with SimpleMotion V2 interface. For pinout, seeSimpleMotion V2 port.

X2

6 pin wire terminal for logic voltage supply, Safe torque off input, analog output and relay driver outputs.

X3

Two pin wire terminal for HV DC bus supply.

X4

Main control and setpoint signal port consisting Enable input signal, Fault output signal, pulse and direction/quadrature/PWM setpoint inputs and digital outputs for home switch status. X4 is directly wired to conform most common parallel port style pulse & direction CNC controllers.

X5

Second control and setpoint signal port. This port consists analog setpoint signal inputs and additional digital I/O.

X6

These are the feedback device connector for X (lower) and Y (upper) axis motors

X7

These are the power and holding brake output connector for X (lower) and Y (upper) axis motors

X8

These are the feedback device connector for Z (lower) and A (upper) axis motors

X9

These are the power and holding brake output connector for Z (lower) and A (upper) axis motors

X10

A connector for an optional external regenerative resistor. IONICUBE has on-board regenerative resistor that is sufficient for most installations.

IONI_X, IONI_Y, IONI_Z, IONI_A

Card-edge connectors for IONI drives

Front side connectors

Front side connectors consist X6, X7, X8 and X9. These connectors are the interface towards motors (motor power and feedback devices).

Connector layout and naming. View from top of the board.

IONICUBE revision 3 PCB layout. USB connector X11 and Switch S1 to replace the jumper header.

Power and feedback ports of X, Y, Z and A axis. View from plug side of the board.

Names of power and feedback ports. I.e. X9A means upper floor connector of X9 and X9B the lower floor of X9. View from plug side of the board.

Legend

Color
Supply pin
Input pin
Output pin

X7 and X9 pinout

These are the power output and holding brake output connector for motors

Pin number	Signal name	AC/BLDC motor	Brush DC motor	Stepping motor
1	GND	Ground for cable shield and an optional motor holding brake coil
2	PHASE1	U (some motors R)	Armature +	Coil A.1
3	PHASE2	V (some motors S)	Armature -	Coil A.2
4	PHASE3	W (some motors T)	Armature -	Coil B.1
5	PHASE4	Not connected	Armature +	Coil B.2
6	BRAKE	Optional 24V motor holding brake coil

Motor & brake wiring schematics

• 

  Wiring of three phase AC servo motor. Brake is optional.

• 

  Wiring of Brush-DC servo motor. Brake is optional.

• 

  Wiring of two phase stepping motor. Brake can be fitted like in the other examples. Also 6 and 8 wire motors can be wired (the two drive coils connect always to the same PHASE outputs).

X6 and X8 pinout

X6 and X8 are the feedback device connectors of motors

Pin #	Pin name	Electrical type (in most feedback device modes)	Quadrature encoder	SinCos encoder	BiSS-C encoder	SSI encoder	AMS SSI encoder
Shell	GND	Earth/case
1	HALL_W	Hall sensor digital input, phase W			-	-	-
2	HALL_V	Hall sensor digital input, phase V			-	-	-
3	HALL_U	Hall sensor digital input, phase U			-	-	-
4	GND	Encoder supply ground
5	B-	Differential input B-	Channel B-	SinCos input B-	-	-	-
6	B+	Differential input B+	Channel B+	SinCos input B+	-	-	-
7	A-	Differential input A-	Channel A-	SinCos input A-	-	-	-
8	A+	Differential input A+	Channel A+	SinCos input A+	-	-	-
9	5V_OUT	Encoder supply 5V output
10	GND	Encoder supply ground
11	GPI3	Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed with Limit switch polarityLSP.			Clock/MA-	Clock-	CLK
12	GPI2	Axis positive direction end limit switch (optional).Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed with Limit switch polarityLSP.			Clock/MA+	Clock+	CSn
13	GPI1	Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed with Home switch or hard stop search direction (Home switch polarity)HMS.					DO
14	C-	Differential input C-	Index channel Z-	Index channel Z+	Data/SLO-	Data-	-
15	C+	Differential input C+	Index channel Z+	Index channel Z+	Data/SLO+	Data+	-
Pin layout	Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.

Examples of feedback device and switch wiring

• 

  Fully wired port with differential incremental encoder, hall sensors and switches

• 

  Wiring of differential incremental encoder

• 

  Minimal wiring of incremental encoder (single ended, no index channel)

• 

  Wiring of Hall sensors only (only torque mode possible)

• 

  Illustration of wiring limit and home switches. In addition to this, encoder and/or halls are needed.

Back side connectors

A closeup of X2, X3, X4 and X5

X2 pinout

X2 is 6 pin wire terminal for logic voltage supply, Safe torque off input, analog output and relay driver outputs.

Pin number	Signal name	Usage
1	GND	Ground
2	24V	24V logic supply
3	STO	Safe torque off input (this pin also available in X1, as defined in SimpleMotion V2 port
4	VFD	0-12V analog output where voltage level is proportional to PWM duty cycle on pin PWM on X4. PWM frequency must be between 100 and 10000 Hz.
5	RL1	Relay coil driver output 1. When RLIN1 on X4 is logic high, RL1 is pulled to GND by an open collector circuit. When RLIN1 is low, RL1 is floating (max 24V). When connecting a relay that has 24VDC coil between RL1 and supplied 24V, no external free-wheeling diode is needed. Output current rating is max 500 mA.
6	RL2	Relay coil driver output 2. When RLIN2 on X4 is logic high, RL2 is pulled to GND by an open collector circuit. When RLIN1 is low, RL2 is floating (max 24V). When connecting a relay that has 24VDC coil between RL2 and supplied 24V, no external free-wheeling diode is needed. Output current rating is max 500 mA.

X3 pinout

X3 is two pin wire terminal for HV DC bus supply.

Pin number	Signal name	Usage
1	GND	Ground
2	HV+	Motor power supply, HV DC bus (see IONI drive voltage range spec)

See also:

• IONI power supply schemes
• Estimating power need of motor drive system

X4 pinout

X4 is main control and setpoint signal port consisting Enable input signal, Fault output signal, pulse and direction/quadrature/PWM setpoint inputs and digital outputs for home switch status. X4 is directly wired to conform most common parallel port style pulse & direction CNC controllers.

Pin number in header	Pin number in D25 cable	Signal name	Typical usage		Pin number in header	Pin number in D25 cable	Signal name	Typical usage
1	1	ENABLE	Enable all axis (with or without chargepump)		2	14	PWM	PWM input for VFD analog output
3	2	HSIN1_X	Pulse/step input X		4	15	GPO4_A	Limit switch output A
5	3	HSIN2_X	Direction input X		6	16	RLIN1	Controls RL1 state
7	4	HSIN1_Y	Pulse/step input Y		8	17	RLIN2	Controls RL2 state
9	5	HSIN2_Y	Direction input Y		10	18	GND	Ground
11	6	HSIN1_Z	Pulse/step input Z		12	19	GND
13	7	HSIN2_Z	Direction input Z		14	20	GND
15	8	HSIN1_A	Pulse/step input A		16	21	GND
17	9	HSIN2_A	Direction input A		18	22	GND
19	10	STOP_OUT	Fault on any axis or E-stop (active low). Note: this is IONI's GPO3 signals connected in parallel between all axis / wired-or configuration.		20	23	GND
21	11	GPO4_X	Limit switch output X		22	24	GND
23	12	GPO4_Y	Limit switch output Y		24	25	GND
25	13	GPO4_Z	Limit switch output Z		26	N/A	Not connected
Pin layout

Alternative setpoint signals

Setpoint mode is selected by software with parameter Setpoint inputCRI and behavior is affected by parameters Setpoint smoothingCIS, Setpoint multiplierMUL, Setpoint dividerDIV, Setpoint offset nullingCAO and Enable direction inputCED.

Signal name	Function	Used for	Remarks
HSIN1	High speed digital input 1	Depending on setpoint mode, can be either: Step pulse train (in Pulse and direction setpoint mode) Quadrature A channel (in quadrature setpoint mode) PWM input direction (in PWM+Dir setpoint mode)
HSIN2	High speed digital input 2	Depending on setpoint mode, can be either: Direction signal of pulse train (in Pulse and direction setpoint mode) Quadrature B channel (in quadrature setpoint mode) PWM (in PWM and PWM+Dir setpoint modes)
ANAIN-	Differential analog negative input	Used for analog setpoint mode	Setpoint voltage is the voltage difference between ANAIN+ and ANAIN-
ANAIN+	Differential analog positive input	Used for analog setpoint mode

X5 pinout

X5 is a second control and setpoint signal port in addition to X4. This port consists analog setpoint signal inputs and additional digital I/O.

Pin number in header	Pin number in D25 cable	Signal name	Typical usage		Pin number in header	Pin number in D25 cable	Signal name	Typical usage
1	1	GND			2	14	+5V_OUT	5V supply from IONICUBE ^2
3	2	ANAIN-_X	+/-10V analog input X		4	15	ANAIN+_X	+/-10V analog input X
5	3	ANAIN-_Y	+/-10V analog input Y		6	16	ANAIN+_Y	+/-10V analog input Y
7	4	ANAIN-_Z	+/-10V analog input Z		8	17	ANAIN+_Z	+/-10V analog input Z
9	5	ANAIN-_A	+/-10V analog input A		10	18	ANAIN+_A	+/-10V analog input A
11	6	GPO1_X	For pin function, refer to IONI connector pinout		12	19	GPI4_X	For pin function, refer to IONI connector pinout
13	7	GPO1_Y			14	20	GPI4_Y
15	8	GPO1_Z			16	21	GPI4_Z
17	9	GPO1_A			18	22	GPI4_A
19	10	GPO5_X			20	23	GPI5_X
21	11	GPO5_Y			22	24	GPI5_Y
23	12	GPO5_Z			24	25	GPI5_Z
25	13	GPO5_A			26	N/A	GPI5_A
Pin layout

Application example

Follwing image shows typical installation schemes for pulse/direction controlled systems, typically found in PC CNC applications.

• 

  A typical connection with parallel port style CNC controller such as Mach3/Mach4/LinuxCNC. A 26 pin ribbon cable may be directly connected to PC parallel port or to equivalent pinout step/dir generator such as SmoothStepper.

Mating connectors and accessories

This page lists examples of available mating connectors, accessories and spare parts for IONI drive together with IONICUBE four axis motherboard. Most parts or equivalents are available from large number of distributors. You may use http://www.findchips.com/ to search the same or similar parts from alternative distributors.

Recommended shopping list

• Connectors and backshells for X6/X8 unless using a motor with pre-made encoder cables (like Granite Devices servo motors)
• X1 cable (RJ45 cable)
• X4/X5 connectors and flat cable
  • A flat cable to D-Sub 25 connector if direct connection to parallel port based PC CNC software is desired
• EMI filters
• 24 VDC logic power supply
• HV DC bus power supply

See the list of example parts below.

Connectors

X6 & X8 connector

Description	Manufacturer	Part number	Distributors and order codes
PLUG, D, SOLDER, 15WAY	MULTICOMP	5501-15PA-02-F1	Farnell 1084673 DE, US,UK,ES,FR,FI,SE,IT

Accessories

Description	Manufacturer	Part number	Distributors and order codes
D-SUB BACKSHELL, 15WAY	MH CONNECTORS	DPPK15-GREY-K	Farnell 470028 DE, US,UK,ES,FR,FI,SE,IT

X1 connector

Cable assemblies

Cable used for X1 should be shielded (S/FTP or FTP, not UTP) type.

Description	Manufacturer	Part number	Distributors and order codes
Premium patch cable 0.5m	VIDEK	3962-0.5	Farnell 1525999 DE, US,UK,ES,FR,FI,SE,IT
Premium patch cable 1m	VIDEK	3962-1
Premium patch cable 2m	VIDEK	3962-2	Farnell 1525753 DE, US,UK,ES,FR,FI,SE,IT
Premium patch cable 5m	VIDEK	3962-5	Farnell 1525755 DE, US,UK,ES,FR,FI,SE,IT
Premium patch cable 10m	VIDEK	3962-10
Shielded patch cable 0.5m	VIDEK	2992-0.5	Farnell 1517504 DE, US,UK,ES,FR,FI,SE,IT
Shielded patch cable 1m	VIDEK	2992-1
Shielded Patch cable 2m	VIDEK	2992-2	Farnell 1517506 DE, US,UK,ES,FR,FI,SE,IT
Shielded patch cable 5m	VIDEK	2992-5	Farnell 1517509 DE, US,UK,ES,FR,FI,SE,IT
Shielded patch cable 10m	VIDEK	2992-10
Shielded patch cable 0.5m	Assman	A-MCSP-80005/B-R	Digikey A-MCSP-80005/B-R
Shielded patch cable 1m	Assman	A-MCSP-80005/Y-R	Digikey A-MCSP-80010/Y-R
Shielded patch cable 2m	Assman	A-MCSP-80020/Y-R	Digikey A-MCSP-80020/Y-R
Shielded patch cable 3m	Assman	A-MCSP-80050/Y-R	Digikey A-MCSP-80030/Y-R
Shielded patch cable 5m	Assman	A-MCSP-80050/Y-R	Digikey A-MCSP-80050/Y-R
Shielded patch cable 10m	Assman	A-MCSP-80050/Y-R	Digikey A-MCSP-80100/Y-R

Accessories

Description	Manufacturer	Part number	Distributors and order codes
RJ45 break-out board with DIN rail fixture (convert RJ45 to screw terminals). Helpful for wiring STO and Enable wires.	Camden boss	CIM/RJ45	Farnell 2211819 DE, US,UK,ES,FR,FI,SE,IT

X7 and X9 connector

These parts are included with IONICUBE 4 axis product.

Description	Manufacturer	Part number	Distributors and order codes
6 pole 5mm pitch terminal plug	FCI	20020007-G061B01LF	Digikey 609-4182-ND

X4 and X5 connector

Example of DIN rail attachable IDC terminal block/breakout board.

Mating connector type is 0.1" pitch 26 pin IDC ribbon cable socket, see example (pdf).

Description	Manufacturer	Part number	Distributors and order codes
SOCKET, IDC, 2.54MM, 26WAY	AMPHENOL	T812126A100CEU	Farnell 2215239 DE, US,UK,ES,FR,FI,SE,IT
SOCKET, IDC, WITH S/RELIEF, 26WAY	MULTICOMP	MC6FD026-30P1	Farnell 1099240 DE, US,UK,ES,FR,FI,SE,IT
FLAT CABLE 26 WAY	3M	3302/26 300SF	Digikey MC26M-5-ND

Accessories

Description	Manufacturer	Part number	Distributors and order codes
IDC terminal block, 26WAY	Camden boss	CIM/202426W-IDCS	Farnell 2211821 DE, US,UK,ES,FR,FI,SE,IT
FLAT CABLE TO D-SUB 25 CONNECTOR	Sullins	SDS103-PRW2-M25-SN00-211	Digikey S9577-ND

Electromagnetic interference filtering

Description	Manufacturer	Part number	Distributors and order codes
EMI suppression core for low frequency band	Laird	LFB159079-000	Digikey 240-2281-ND
EMI suppression core for medium frequency band	Laird	28B0616-000	Digikey 240-2306-ND

Power supplies

Before making decision on power supplies, see:

• IONI power supply schemes
• Estimating power need of motor drive system

24V low power logic supply

Description	Manufacturer	Part number	Distributors and order codes
24 VDC power supply	TDK-Lambda	LS35-24	Digikey 285-1893-ND
24 VDC DIN rail power supply	CUI Inc	VDRS-20-24	Digikey 102-2152-ND

HV DC high power motor supply

Voltage	Power	Manufacturer	Part number	Distributors and order codes
24 VDC	150 W	Delta Electronics	PMT-24V150W1AA	Digikey 1145-1075-ND
24 VDC	200 W	Delta Electronics	PMT-24V200W1AM	Digikey 1145-1076-ND

Voltage	Power	Notes	! Manufacturer	Part number	Distributors and order codes
48 VDC	150 W		Delta Electronics	PMT-48V150W1AA	Digikey 1145-1109-ND
48 VDC	200 W		TDK-Lambda	LS200-48	Digikey 285-1982-ND
48 VDC	300 W		TDK-Lambda	RWS300B48	Digikey 285-2294-ND
48 VDC	320 W		Mean Well	RSP-320-48	Granite Devices Store RSP-320-48 Findchips RSP-320-48
48 VDC	480 W	DIN rail mounting	Mean Well	NDR-480-48	Granite Devices Store NDR-480-48 Mouser NDR-480-48
48 VDC	480 W	720 W peak output power capability, DIN rail mounting	Mean Well	SDR-480-48	Mouser SDR-480-48
48 VDC	480 W	Requires 3 phase AC power	XP Power	DNR480PS48-I	Digikey 1470-1102-ND Farnell 1372704 DE, US,UK,ES,FR,FI,SE,IT
48 VDC	450 W	Not CE compliant (EU)	Mean Well	SE-450-48	Findchips SE-450-48
48 VDC	480 W		Delta Electronics	DRP048V480W1BN	Digikey 1145-1094-ND
48 VDC	600 W	Not CE compliant (EU)	Mean Well	SE-600-48	Findchips SE-600-48
48 VDC	600 W		TDK-Lambda	RWS600B48	Digikey 285-2298-ND
48 VDC	960 W	Requires 3 phase AC power	XP Power	DNR960TS48-I	Digikey 1470-3050-ND Farnell 1634807 DE, US,UK,ES,FR,FI,SE,IT
48 VDC	1000 W		XP Power	SHP1000PS48	Digikey 1470-2226-ND

LED indicators

IONI has two on-board led indicators which have dedicated indicating tasks:

• LED1 Motor control state indicator (green)
• LED2 Fault indicator (orange)

How to read indications

• LED1 and LED2 have programmed blinking sequences. Sequences consists series of short (S) and long (L) light pulses. For example LLS means the led will blink two long flashs and then one short flash. After sequence there will be a pause before the sequence repeats.
• LED1 and LED2 are independent and can show fault and motor state simultaneously. To easier reading sequence, cover one led with a thumb to be able to concentrate to one led.
• LED2 and shows the first fault occurred if multiple fault states are active simultaneously.
• LED1 and LED2 are flashing together if device is in a firmware upgrade mode (DFU).

List of all LED1 and LED2 sequences

To see animated images, view this Wiki page in a web browser with animations enabled. The animations show Argon front panel, but the blinking sequences of IONI are equivalent when LED1=LD4 and LED2=LD3.

Faults

Only LED2 is being controlled by these faults, except in DFU mode when both leds blink together.

Fault reason	LED sequence	LED sequence as text
Hardware		LLSS
Progral or memory		LSLL
Internal comm error (CRC)		LSL
Initialization		LSS
Over current		SLL
Over temperature		LSLS
Over voltage		SLS
Following error		LS
Under voltage		SL
Motion blocked or motor runaway		SSL
Setpoint range exceeded		LSSL
SimpleMotion communication error		LSSS
Other/unknown, possibly configuration error such as motor mode Motor typeMT not selected		SSSL

Motor control states

Only LED1 is being controlled by these states.

Status	LED sequence	LED sequence as text	Motor output powered
Permanent stop (need device reset)		LLS	No
Fault stop (observe LD3 for reason)		Off	Depends on fault
Follow error recovery motion		LS	Yes
Initializing		SL	Yes
Homing		LSS	Yes
Run		On	yes
Drive disabled (enable signal/command missing) OR other/uncategorized (not any of above). For clarity, connect with Granity and see status bits.		LLSS	Yes or No

IONICUBE LED indicators

IONICUBE has four LED indicators that will are dedicated to:

LED1

Power on (24V supplied)

LED2

GPO1_X (LED on when GPO1_X is high)

LED3

Fault stop state (LED on when any of drives has fault stop state on)

LED4

Regenerative resistor is being driven

LED1-4 on IONICUBE

Drive parameterization

This article will describe how to set-up IONI parameters with Granity to make motor operational and ready for servo tuning.

Preparations and connection

As the goal is to parameterize and make motor operational, we should have:

1. The drive and motor fully wired. However it's not required to have controller or braking resistor connected at this point.
2. Be familiar with the operation and parameters of Granity. Make sure you have read Granity user guide.
3. Granity connection working. See IONI & IONICUBE user guide/Making the first Granity connection

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 uploading a firmware file to the drive.

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 Axis type & unitsAXT and Axis scaleAXS affect only on the 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.

1. Choose motor type from the drown down list Motor typeMT. 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.
2. Set motor Pole countMPC (non-brush DC motors only). If unsure, see Determining motor pole count.
3. Set Maximum speedMMS of the motor, or alternatively the maximum allowed motor speed in the target application
4. Set motor Peak current limitMMC and Peak current limitMMC 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.
5. Set Thermal time constantMTC. Motor thermal time constant value in seconds, used for thermal modeling of motor to avoid motor overheating with Peak current limitMMC. 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.
6. Setting motor Coil resistanceMR and Coil inductanceML values are required for proper drive operation. Do this by using the 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.

Feedback device

1. Choose feedback device type from the drop down Feedback deviceFBD
2. Set feedback device resolution. If Feedback deviceFBD 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 Feedback device resolutionFBR field. Some manufactures also call PPR as CPR.
3. Configure the polarity of feedback device counting direction by Invert feedback directionFBI 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.
4. Leave the Hall sensors Off from parameter Hall sensorsFBH during initial setup. Enable later if necessary (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.

1. Leave Over current toleranceFOC value as default if no overcurrent faults occur. See Tuning torque controller if overcurrent faults occur.
2. Set Over voltage fault thresholdFOV following way depending on your HV DC bus supply voltage. Set FOV value at least 10% higher than nominal HV DC bus voltage. For detailed guide of understanding FUV and FOV parameters, see page Configuring drive voltage limits FUV and FOV. Examples:
   1. 24 VDC regulated power supply, try value of 32 VDC
   2. 48 VDC regulated power supply, try value of 54 VDC
3. Set Under voltage fault thresholdFUV so that drive will not trigger undervoltage fault during varying load of HV DC bus. Example:
   1. 24 VDC regulated power supply, try value of 19 VDC
   2. 48 VDC regulated power supply, try value of 35 VDC

1. It is important to goal deviation faults (i.e. Goal faults filter timeFFT, Position tracking error thresholdFPT, Velocity tracking error thresholdFVT, Over speed faultFEV) as low as possible. Set them so that faults don't occur during normal operation but any anomaly or unexpected behavior will trigger them.

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.

1. Goal Goal faults filter timeFFT sets the time how fast Position tracking error thresholdFPT, Velocity tracking error thresholdFVT, Over speed faultFEV and Motion fault thresholdFMO 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.
2. Set Position tracking error thresholdFPT according how much mechanical axis is allowed to deviate from the setpoint position in position control mode.
3. Set Velocity tracking error thresholdFVT 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.
4. Set Over speed faultFEV 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.
5. Leave Motion fault thresholdFMO as 0 (0 = disabled) for the beginning. Using nonzero value enables motion fault.
6. Choose Limit switch functionLFS 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:

1. Drive is powered on (logic & HV DC bus)
2. Enable signal is powered.
   1. 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.
3. STO2 input is powered
4. Motor typeMT is configured
5. If Require software enableCEN 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:

1. Choose setpoint input Setpoint inputCRI to match your motion controller.
2. If external motion controller with acceleration limit (such as CNC controller) is being used, then it is advised to set Acceleration limitCAL value to maximum of 32767 (unlimited acceleration) after motor tuning to enable motion tracking without delay. Use a limited acceleration value if drive is being used with pulse burst positioning or SimpleMotion V2 controller.
3. If setpoint is too sensitive or not sensitive enough (such as limiting speed), then adjust setpoint scaling factory by adjusting Setpoint multiplierMUL and Setpoint dividerDIV.
4. If setpoint signal is noisy or jittering, try enabling Setpoint smoothingCIS to smoothen it inside drive. However, leave Setpoint smoothingCIS disabled if setpoint tracking without any delay is desired.
5. Set-up homing if required by application

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