[ ] Error recovering
[ ] Tracking error warn
[ ] Target reached
[ ] Enabled !
[ ] Run (drive active)
[ ] Homing active
[X] Braking
[ ] Permanent stop
[X] Voltages good
[ ] Fault stopped
[ ] Ready for use
[ ] STO active
[ ] Safe torque mode
[ ] Standing still
[ ] Quick stop active
[ ] Tracking error
[ ] Over velocity
[ ] Hardware
[ ] Over temperature
[ ] Feedback
[ ] Over current
[ ] Internal comm error
[ ] Power stage forced off
[ ] Under voltage
[ ] Over voltage
[ ] Motion range
[ ] Firmware error
[ ] Init
[ ] Motion
[ ] SimpleMotion
[ ] Configuration
Fault location ID1 0 (info)
Fault location ID2 0 (info)
! = reasons for inactivity[X] GPI 1
[X] GPI 2
[X] GPI 3
[X] GPI 4
[X] GPI 5
[ ] GPI 6
[X] HSIN 1
[X] HSIN 2
[ ] ANA1 as digital
[ ] ANA2 as digital
[X] ENC A
[X] ENC B
[X] ENC C
[ ] ENC D
[X] Hall U
[X] Hall V
[X] Hall W
[X] Soft enable
[ ] Phys enable !
[ ] Pos feed enable
[ ] Neg feed enable
[X] Home switch
[X] Clear faults
Analog in 1 -0.09 V
Analog in 2 0.00 V
Analog Enc A 3.35 V
Analog Enc B 3.34 V
HV bus voltage 13.8 VDC
Device temperature 19 °C
Actual current limit ±2.0 A
Last limit reason None
Output current 0.14 A
Velocity feedback 0 r/s
Velocity feedback (raw) 0
Position feedback 0 r
Position feedback (raw) 0
Setpoint value (raw) 0
Debug 1 -1
Debug 2 -1
Debug 3 -1
Debug 4 -1
Debug 5 -1
Debug 6 -1
Parameters
| GCFWVER=10707 | HWTYPE=11001 | HWSERIAL=110033162 | BUILDREVISION=4c829a1
| CEI=0 | UID=3d5df10e | SMO=0 | TRF1=0
| TRF2=0 | TRA1=0 | TRA2=0 | MPP=0
| NOTCHFILT=668315 | TED=0 | TEF=0 | TEI=0
| SERIALENCBITS=6 | COMMUTATIONCFG=0 | HAO=0 | FBR=1000
| FBD=1 | FB2D=0 | TBW=6 | KVP=300
| KVI=30 | KPP=50 | VFF=0 | AFF=0
| PFF=85 | CM=0 | MT=4 | AD=0
| FLAGS=131072 | MMC=2 | MCC=0.6 | FOC=2
| FOV=15 | FUV=11 | FPT=1000 | FVT=100
| FEV=100 | FMO=0 | LSF=0 | AXS=1
| AXT=3 | FFT=0.1 | TSR=15 | TCH=126
| TTR=1 | TBT=0 | CRI=0 | DIV=50
| PIF=2500 | MUL=50 | CAL=1000 | CSD=10
| CVL=1000 | CRV=100 | MR=0.33 | ML=3
| MTC=500 | MPC=100 | MMS=5 | CAO=0
| HOMING=0 | HMV=100 | HMA=10 | HMH=0
| HMT=1 | HHL=0 | HLL=0 | HMF=0
| HSA=0 | HSS=0 | overrideAddr1=0 | overrideAddr2=0
| overrideAddr3=0 | overrideVal1=0 | overrideVal2=0 | overrideVal3=0
| BED=1.5 | BER=0 | BDD=1 | CAPS1=6.29143e+7
| CAPS2=16287
``` Gonna Call it for today. Did the Emergency stop.
New day tomorrow.This latest shows that the Enable-signal is not wired.
https://granitedevices.com/wiki/IONI_%26_IONICUBE_user_guide/Wiring_overview_with_IONICUBE_1X
Hi
It’s also possible to force-enable IONI from Granity/Connect tab. However, if multiple restarts are required, wiring a physical enable signal is much more convenient.
Kind regards,
Esa
Have been using the force enable option so far.
Everything seemed to be in order, besides that if i config the current settings to be more than about 0.4A, the motor starts producing a “squeeky” noise and from time to time without command shakes a notch.
I had the same issue with my old set-up.
Even tried swapping the motor for another one.
Gonna have a cup of coffe, and get back to the testbench.
Wishing you all a good day.
Hi
Depending on the motor tuning, if there are any oscillations, then the motor will squeal. Also, if the tuning is veri tight, it’s likely that the motor will give some audible chirping.
I’s always preferred to first tune torque mode, then velocity or position mode.
Kind regards,
Esa
Hi again Esa.
The project has been on hold for some time now.
Im still having issues with the encoder side of things, i exchanged a few messages with Mika about this.
Something i find weird, is that if i try to tune the motor in Torque mode, it does no motion at all, only stands still making noise, is this normal behavior ?
With position or velocity mode, the motor does indeed move, but in position mode the motion does not represent the actual request i make.
Like for example requesting 3 revolutions, mostly does about 2.5
And i constantly get : Tracking Error Warn, no matter how loose i set the fault tolerance.
The motor has a 1000 Line incremental encoder onboard.
Quadrature Encoder 2 option, with 4000PPR and position mode gives the best result so far, but its not correct yet.
Hi
I’m sorry for the late reply, I was on my annual leave.
Motor should always first be tuned in torque mode in order to verify wiring and encoder configuration. After that position and/or velocity mode can be tuned.
https://granitedevices.com/wiki/Servo_motor_torque_mode_test
If hall sensors are not installed or used, then IONI will do a phase search in the initialization of the motor. This is required to force the motor into a known magnetic angle. If the magnetic angle information is lost or incorrect, the motor is not driven properly. Encoder is the device that gives data to the drive of the angle, and if the encoder setting is incorrect (wrong direction or resolution), the magnetic angle is soon unknown and motor either stalls or runs wild.
Please ensure when you turn on your system, the axis can move freely to both directions.
Also, please disable the motor and rotate the axle for approx. one rotation. You can check from the Granity/Testing tab the raw positio feedback value for the change as CPR vlue and deduct the correct PPR value from this (0.25 * CPR).
Kind regards,
Esa
Good day.
I have had a long break from the motor project, so no rush here.
Today i powered up again, and was about to give it a go.
I did as you mention above.
Something i must admit i have not taken note about before, is that i got no encoder position feedback, when turning the motor by hand. I am able to see the pulses from the encoder though.
Hi
If you don’t see any change in Granity/Testing position feedback value, then I suggest you check your wiring ans encoder setting in Granity/Machine.
Kind regards, Esa
Thank you Esa.
I had a hard time believing it at this point, but it was in fact only the encoder type option that did it.
I got blinded by the earlier issues, now its under control, just gotta try and tune away some of the start noises the motor makes.
Have a nice day.
Hi
Good to hear that the issue was solved!
Let us know if you have any more questions.
Kind regards, Esa
Thank you for your time & support so far, once more.
I think i can keep myself busy for some time now : )
Have a good day.