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| − | == Main idea ==
| + | = Main idea = |
| − | The servo motor torque mode test is a method to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a continuous manner. | + | The servo motor torque mode test is a test to verify that basic parameters and wiring are correct. The target is to rotate/move the motor in torque mode in a continuous manner. |
| | | | |
| | == Assumptions == | | == Assumptions == |
| | * All wiring are triple checked and [[Tuning torque controller | torque tuning]] is done properly. | | * All wiring are triple checked and [[Tuning torque controller | torque tuning]] is done properly. |
| − | ** Refer to the product user guidebook for detailed wiring instructions.
| + | * The motor is free to move/rotate, and no harm can happen from a long continuous movement. |
| − | ** Pay special attention to encoder operating voltage (VCC) and GND wiring. Wiring VCC and GND erroneously may damage the encoder.
| + | |
| − | * The motor is free to move/rotate, and no harm nor damages can happen from a long continuous movement. | + | |
| − | * You have read and understood [[Servo tuning basics | servo tuning basics]].
| + | |
| − | | + | |
| − | {{damage|Don't use [http://en.wikipedia.org/wiki/Ethernet_crossover_cable crossover] cables in SimpleMotion V2 system}}
| + | |
| | | | |
| | == Steps == | | == Steps == |
| − | {{machine|During this test, motor may spin at maximim speed. Ensure that motor is free to run, or if not, ensure that no damage occurs if it hits to mechanical limit.}}
| + | # Set the drive in Torque mode from [[Granity | Granity]]. |
| − | # Set the drive in Torque mode from [[Granity | Granity]]/Goals tab. | + | # |
| − | # Go to Granity/Testing tab. | + | |
| − | # Make sure that the setpoint is zero and the drive is enabled and ready.
| + | |
| − | # Set the {{param|TSP1}} Target setpoint 1 to 500.
| + | |
| − | # Increase the target setpoint slowly by clicking the "Increment by TSP1" button and checking whether the motor moves of not.
| + | |
| − | #*When setpoint reaches 16384 or greater, the maximum current is being delivered to motor. So further increase of setpoint will not have any effect.
| + | |
| − | #*If drive stops into overvelocity fault, it typically means that system works properly. However, you may increase {{param|FVT}} enough to complete the test without overvelocity fault.
| + | |
| − | # If the motor moves in a continuous manner, all parameters and wiring are correct.
| + | |
| − | #* If the motor halts, click the "Set zero setpoint" button and follow the troubleshooting instructions below.
| + | |
| − | | + | |
| − | == Troubleshooting ==
| + | |
| − | In most cases, the motor halts after a short movement if the feedback resolution is incorrect, or if it's direction is reversed.
| + | |
| − | | + | |
| − | * Check wiring, especially logic and motor voltages, Enable, and STO.
| + | |
| − | * Check [FBI] Invert feedback direction checkbox in Granity/Machine tab, and repeat the steps above.
| + | |
| − | ** This inverts the encoder direction without the need for rewiring.
| + | |
| − | * Check the motor pole count and encoder resolution from their datasheets.
| + | |
| − | * Move the motor by known angle/distance, and check the position feedback reading from Granity/Testing tab.
| + | |
| − | ** The Position feedback value in Granity/Testing tab is always in CPR (counts per revolution). From this, the correct PPR can be calculated for one revolution (PPR = CPR/4).
| + | |
| − | | + | |
| − | == Further reading ==
| + | |
| − | After the torque mode is configured and the motor can be controlled in torque mode properly, velocity and/or position modes can be tuned. Please refer to their respective instruction pages for further details.
| + | |
| − | * [[Tuning velocity controller]]
| + | |
| − | * [[Tuning position controller]]
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| − | | + | |
| − | == Other motor types ==
| + | |
| − | * For linear motors, please refer to [[Configuring linear servo motor|linear motor configuration instructions]].
| + | |
| − | * For stepping motors, please refer to [[Using stepping motor with IONI|stepping motor configuration instructions]].
| + | |
| − | | + | |
| − | [[Category:Application]]
| + | |
| − | [[Category:Motor_drives]]
| + | |
| − | [[Category:Setup_guides]]
| + | |
| − | [[Category:Troubleshooting]]
| + | |
