Editing Using LinMot linear actuator with IONI servo drive

{{#ev:youtube|QUvghOEEdk0|320|right|Demonstration of LinMot actuator with IONI Pro. If video won't display, [https://www.youtube.com/watch?v=QUvghOEEdk0 here is link to Youtube].}}
Most, if not all, LinMot linear actuators can be used with [[IONI]] Pro drives because the drive supports driving of three and two phase motors as well as SinCos feedback devices. This page gives instructions of setting up drive for them.
==Connections==
Typical LinMot actuator has two phase windings and analog sine & cosine outputs as position feedback. For example many LinMot actuators have following wires:

Ph 1+, Ph 1-, Ph 2+, Ph 2-, +5VDC, GND, Sine, Cosine, Temp, Shield

Wire mapping to IONI Pro drive goes as follows:

;Motor connector
*Ph 1+ -> PHASE1
*Ph 1- -> PHASE2
*Ph 2+ -> PHASE3
*Ph 2- -> PHASE4
*Shield -> GND

;Encoder connector
*+5VDC -> 5V_OUT
*GND -> GND
*Sine -> CHA+
*Cosine -> CHB+
*Temp -> no connection

Refer to motor data sheet to find out wire colors/pin outs of these signals.

==Parameters==
The key parameter is to set motor in correct mode and setup feedback device correctly. For two phase motor, choose:
*{{param|MT}} -> 2 phase AC/BLDC
*{{param|MPC}} -> 2
*{{param|FBD}} -> SinCos encoder 256X
*{{param|FBR}} -> 256 PPR
*{{param|FBI}} -> try both settings and see which one works (''unticked'' work for most models)

Other motor parameters configured according to motor manufacturer specs. To test configuration, set drive in torque mode and try motor with different torque setpoints (Granity testing tab). If motor produces force over it's travel distance, the settings are correct. If motor locks at some position, invert FBI.

The rest of work is to proceed with [[Servo motor tuning guide]].
@@ Line 34: / Line 34: @@
 Other motor parameters configured according to motor manufacturer specs. To test configuration, set drive in torque mode and try motor with different torque setpoints (Granity testing tab). If motor produces force over it's travel distance, the settings are correct. If motor locks at some position, invert FBI.
-=== Position mode parameters ===
+The rest of work is to proceed with [[Servo motor tuning guide]].
-This motor requires unusually high gain values for position control. In the demonstration we used values:
-* {{Param|KVP}} 200000
-* {{Param|KVI}} 100000
-* {{Param|KPP}} 1200
-* {{Param|TBW}} 1000 Hz
-This can serve as a starting point which probably behaves stable at least without any mechanical load. To optimize gains for better response and [[servo stiffness]], proceed with [[Servo motor tuning guide]].
-[[Category:Application]]
-[[Category:IONI_user_guide]]