Editing Using stepping motor with IONI
Your changes will be displayed to readers once an authorized user accepts them. (help) |
Warning: You are not logged in. Your IP address will be publicly visible if you make any edits. If you log in or create an account, your edits will be attributed to your username, along with other benefits.
The edit can be undone.
Please check the comparison below to verify that this is what you want to do, and then save the changes below to finish undoing the edit.
Latest revision | Your text | ||
Line 6: | Line 6: | ||
: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. | ||
;Mode 3 - Servo (with encoder feedback) | ;Mode 3 - 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. |
− | In the modes 1 and 2 stepper is driven with constant current drive and the motion produced by adjusting phase angle (traditional stepper drive method) | + | In the modes 1 and 2 stepper is driven with constant current drive and the motion produced by adjusting phase angle (traditional stepper drive method). In the mode 3 motor current is controlled by torque controller (from zero to peak current limit) while phase angle is synchronized to rotor angle by the help of encoder. |
==Setting up open loop mode 1== | ==Setting up open loop mode 1== | ||
− | |||
− | |||
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 | ||
Line 35: | Line 33: | ||
:0 | :0 | ||
;[[KVI]] Velocity I gain | ;[[KVI]] Velocity I gain | ||
− | : | + | :900 |
;[[AFF]] and [[VFF]] | ;[[AFF]] and [[VFF]] | ||
:0 | :0 | ||
;[[KPP]] Position P gain | ;[[KPP]] Position P gain | ||
− | : | + | :150 |
;[[PFF]] Position feed-forward gain | ;[[PFF]] Position feed-forward gain | ||
:100% | :100% | ||
Line 47: | Line 45: | ||
: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 ''Measure resistance & inductance'' button to automatically set MR and ML}} | {{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:IONIStepperSettingsTemplate2.drc|this template settings file]] to drive. '''Usage:''' 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. }} |
− | '''NOTE:''' these values and settings apply from '''firmware version 1. | + | '''NOTE:''' these values and settings apply from '''firmware version 1.2.1 (1064)'''. For older firmware version, check out earlier version of this page [http://granitedevices.com/w/index.php?title=Using_stepping_motor_with_IONI&oldid=4026 here]. |
− | + | ||
− | + | ||
− | == | + | ==Seting up closed loop mode 2== |
− | In this mode, follow | + | In this mode, follow parameterization of closed loop mode except: |
;[[FBD]] Feedback device | ;[[FBD]] Feedback device | ||
:Choose your feedback device (other than None) | :Choose your feedback device (other than None) | ||
Line 66: | Line 62: | ||
: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 3== | ==Setting up servo mode 3== | ||
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: | ||
Line 77: | Line 71: | ||
:2 Phase AC or BLDC | :2 Phase AC or BLDC | ||
;[[MPC]] Pole count | ;[[MPC]] Pole count | ||
− | :100 | + | :100 |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + |