Editing Tuning torque controller
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**Make other necessary adjustments to have drive powered and enabled | **Make other necessary adjustments to have drive powered and enabled | ||
*Set-up the test stimulus and capture settings from Testing tab: | *Set-up the test stimulus and capture settings from Testing tab: | ||
− | **Set target setpoint 1 [[TSP1]] to | + | **Set target setpoint 1 [[TSP1]] to 5000-15000 |
**Set delay 1 [[TSD1]] to 0.05 seconds | **Set delay 1 [[TSD1]] to 0.05 seconds | ||
**Set target setpoint 2 [[TSP2]] to 0 | **Set target setpoint 2 [[TSP2]] to 0 | ||
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Once the steps above are done, motor should be generating short torque pulses to a fixed shaft and torque response graphs should appear on the right side of Granity about once in 3-5 seconds. | Once the steps above are done, motor should be generating short torque pulses to a fixed shaft and torque response graphs should appear on the right side of Granity about once in 3-5 seconds. | ||
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===Adjusting MR and ML to for optimum torque control=== | ===Adjusting MR and ML to for optimum torque control=== | ||
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*Undo all temporary changes made to settings (such as {{param|TBW}}, {{param|CM}}, {{param|DIV}}, {{param|MUL}}) but leave the optimized {{param|MR}} and {{param|ML}} values active | *Undo all temporary changes made to settings (such as {{param|TBW}}, {{param|CM}}, {{param|DIV}}, {{param|MUL}}) but leave the optimized {{param|MR}} and {{param|ML}} values active | ||
*Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button | *Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button | ||
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==Using drive in torque mode== | ==Using drive in torque mode== | ||
If torque mode is the final desired operating mode, set-up the [[setpoint]] signal source from Granity Goals tab. Also see [[Signal path of motor drive]] for explanation of torque setpoint scale. | If torque mode is the final desired operating mode, set-up the [[setpoint]] signal source from Granity Goals tab. Also see [[Signal path of motor drive]] for explanation of torque setpoint scale. | ||
{{next|[[Tuning velocity controller]] - follow if drive will be used in velocity control mode|[[Tuning position controller]] - follow if drive will be used in position control mode }} | {{next|[[Tuning velocity controller]] - follow if drive will be used in velocity control mode|[[Tuning position controller]] - follow if drive will be used in position control mode }} | ||
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