Editing Servo motor torque mode test

== 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.

== Assumptions ==
* All wiring are triple checked and [[Tuning torque controller | torque tuning]] is done properly.
** Refer to the product user guidebook for detailed wiring instructions.
** 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 ==
{{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]]/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 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]]

== 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]].