Editing Using stepping motor with IONI
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Using stepping motor with [[IONI]] drive is possible in three ways: | Using stepping motor with [[IONI]] drive is possible in three ways: | ||
− | ; | + | ;Open loop (no encoder) |
:This is the traditional stepping motor drive method. Will achieve highest speed and is easily configurable but there is no feedback, so if motor stalls/loses synchronism, the absolute position will be unknown before referencing/homing. | :This is the traditional stepping motor drive method. Will achieve highest speed and is easily configurable but there is no feedback, so if motor stalls/loses synchronism, the absolute position will be unknown before referencing/homing. | ||
− | ; | + | ;Closed loop (with encoder feedback) |
:This is open loop mode combined with encoder feedback. The advantages are that drive can detect loss of synchronism and restore to commanded position with ''clear faults'' command. May be used also with linear encoder to enhance system accuracy. | :This is open loop mode combined with encoder feedback. The advantages are that drive can detect loss of synchronism and restore to commanded position with ''clear faults'' command. May be used also with linear encoder to enhance system accuracy. | ||
− | ; | + | ;Servo (with encoder feedback) |
− | :In this mode, a stepping motor is used as high pole count brushless servo motor. In this mode, motor efficiency is high (no current if no load) and motor do not lose synchronism. However, motor speed is limited by back EMF of motor and typically can achieve lower top speed than the other modes | + | :In this mode, a stepping motor is used as high pole count brushless servo motor. In this mode, motor efficiency is high (no current if no load) and motor do not lose synchronism. However, motor speed is limited by back EMF of motor and typically can achieve lower top speed than the other modes. |
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+ | ==Setting up open loop mode== | ||
In this mode, drive emulates encoder internally and some tuning parameters need to be set to allow operation: | In this mode, drive emulates encoder internally and some tuning parameters need to be set to allow operation: | ||
;[[MT]] Motor type | ;[[MT]] Motor type | ||
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:0 | :0 | ||
;[[KVI]] Velocity I gain | ;[[KVI]] Velocity I gain | ||
− | : | + | :180 |
;[[AFF]] and [[VFF]] | ;[[AFF]] and [[VFF]] | ||
:0 | :0 | ||
;[[KPP]] Position P gain | ;[[KPP]] Position P gain | ||
− | : | + | :30 |
;[[PFF]] Position feed-forward gain | ;[[PFF]] Position feed-forward gain | ||
:100% | :100% | ||
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:1000 | :1000 | ||
− | Other settings are not critical and can be configured as desired (such as acceleration and velocity limits | + | Other settings are not critical and can be configured as desired (such as acceleration and velocity limits). |
− | {{tip|Use Granity's | + | {{tip|Use Granity's Measure resistance & inductance button to automatically set MR and ML}} |
− | {{download|To save time, you may load [[Media: | + | {{download|To save time, you may load [[Media:IONIStepperSettingsTemplate.drc|this template settings file]] to drive. To use, connect to the drive with Granity, and click ''Load settings from file''. After loading the file, just set motor current limits MMC and MCC to match your motor. After saving & restarting drive, use Measure resistance & inductance button to automatically set MR and ML. }} |
− | + | ==Seting up closed loop mode (with encoder feedback)== | |
− | + | In this mode, follow parameterization of closed loop mode except: | |
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− | == | + | |
− | In this mode, follow | + | |
;[[FBD]] Feedback device | ;[[FBD]] Feedback device | ||
:Choose your feedback device (other than None) | :Choose your feedback device (other than None) | ||
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:Set your feedback device resolution | :Set your feedback device resolution | ||
;[[KVI]] and [[KPP]] | ;[[KVI]] and [[KPP]] | ||
− | :Tune KVI | + | :Tune KVI and KPP values (and possibly other gains if non-zero) to have nice response |
;[[FMO]] Motion fault limit | ;[[FMO]] Motion fault limit | ||
:Set non-zero value (perhaps 100-1000) to cause a fault state when motor stalls | :Set non-zero value (perhaps 100-1000) to cause a fault state when motor stalls | ||
− | + | ==Setting up servo mode== | |
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− | ==Setting up servo mode | + | |
To set-up stepper as servo motor, just follow the [[IONI & IONICUBE user guide]] and consider the stepper motor as servo motor. For a typical 1.8 degree/step two-phase stepping motor the correct motor type parameters are: | To set-up stepper as servo motor, just follow the [[IONI & IONICUBE user guide]] and consider the stepper motor as servo motor. For a typical 1.8 degree/step two-phase stepping motor the correct motor type parameters are: | ||
;[[MT]] Motor type | ;[[MT]] Motor type | ||
:2 Phase AC or BLDC | :2 Phase AC or BLDC | ||
;[[MPC]] Pole count | ;[[MPC]] Pole count | ||
− | :100 | + | :100 |
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