List of SimpleMotion parameters

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This page lists parameters that Granity software reads/writes for drives in order to configure drives.

The first column represents parameter number. On SimpleMotion library, search parameter nubmer simplemotion_defs.h to find the human readable version of the parameter number (i.e. parameter 490 is defined as macro SMP_TORQUE_LPF_BANDWIDTH).

Parameter address Granity GUI name GUI scaling factor Read only Available in device models Not in motor modes
14 SimpleMotion bus address offsetSMO 1 0 Ioni,Ioni Pro,Atomi,OEM Drive
200 Velocity I gainKVI 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
201 Position P gainKPP 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
202 Velocity P gainKVP 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
220 Velocity feed-forward gainVFF 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
221 Acceleration feed-forward gainAFF 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
222 Position feed-forward gainPFF 10.24 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
240 NOTCHFILT 1 0 Ioni Pro
241 Damping effectTED 100 0 Ioni Pro
242 Friction effectTEF 100 0 Ioni Pro
243 Inertia effectTEI 100 0 Ioni Pro
405 Coil resistanceMR 1000 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
406 Coil inductanceML 1000 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
410 Continuous current limitMCC 1000 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
411 Peak current limitMMC 1000 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
415 Motor current limit during homingHMT 1000 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
421 Over current toleranceFOC 16.6667 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
424 Cogging compensation functionTRF1 1 0 Ioni Pro,OEM Drive
425 Cogging compensation currentTRA1 1000 0 Ioni Pro,OEM Drive
426 Torque ripple compensation functionTRF2 1 0 Ioni Pro,OEM Drive
427 Torque ripple compensation amplitudeTRA2 10.24 0 Ioni Pro,OEM Drive
430 Thermal time constantMTC 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
490 Torque bandwidth limitTBW 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
491 Axis scaleAXS 100000 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
492 Axis type & unitsAXT 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
493 Feedback deviceFBD 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
495 Goal faults filter timeFFT 2500 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
496 Over speed faultFEV 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
498 Limit switch functionLSF 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
555 Position tracking error thresholdFPT 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
556 Velocity tracking error thresholdFVT 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
557 Error recovery velocityCRV 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
558 Motor typeMT 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
559 Control modeCM 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
560 Setpoint multiplierMUL 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
561 Setpoint dividerDIV 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
562 Setpoint inputCRI 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
563 Setpoint offset nullingCAO 163.84 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
565 Feedback device resolutionFBR 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
566 Pole countMPC 0.5 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
568 Motion fault thresholdFMO 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
569 Over voltage fault thresholdFOV 100 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
570 Under voltage fault thresholdFUV 100 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
571 Maximum peak powerMPP 1 0 Ioni Pro Stepper
572 Maximum speedMMS 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
573 Electrical interfaceCEI 1 0 Ioni,Ioni Pro
800 Acceleration limitCAL 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
802 Velocity limitCVL 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
803 Homing acceleration limitHMA 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
804 Homing velocity limitHMV 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
808 Hard stop detection thresholdHMH 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
823 Offset move after homingHMF 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
835 Position soft high limitHHL 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
836 Position soft low limitHLL 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
910 Mech brake release delayBER 1000 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
911 Mech brake engage delayBED 1000 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive
912 Dynamic braking decelerationBDD 1 0 Argon,Ioni,Ioni Pro,Atomi,Atomi Advanced,Atomi DeepStep,Atomi Pro,OEM Drive

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