Copley Controls 7228AC User Manual download pdf

Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com

Application Note #5424

Connecting a Copley Controls Digital Servo Amplifier to a Galil Controller

This application note discusses connection and control of a Galil motion controller with

the Copley Controls digital servo drive and brushless motor. The Galil used for this note

was a DMC-1780 controller with the ICM-1900 interconnect module, although any Galil

controller would work for this application. The specific drive used for this application

note is the Model 7228AC digital drive with the brushless motor CBL232BE-001.

Copley Controls Corp. may be reached at (781) 329-8200 (www.copleycontrols.com).

The Copley Motion Explorer software was used for setting up the drive parameters. This

software is used to select the operation mode of the drive, as well as to set tuning and

safety parameters for your system. The drive may be configured for one of four control

modes: torque, position, velocity or digital position. The torque mode closes a current

loop around an external +/-10V analog reference signal. The position mode again closes

a positional loop but this mode is based on an internal command signal or through the

Copley 7XX8 Pendant. The velocity mode closes a velocity and current loop around a +/-

10V analog reference signal. The digital position mode accepts an external

pulse/direction or encoder input to command the internal Copley positional loop. The

Galil controller can control this drive in three of these configurations; torque mode,

velocity mode and digital position mode. This application note outlines the hardware

connections necessary for these modes of control, as well as giving some technical tips

for proper operation. The assumption is made that the Copley amplifier has been

properly configured for the necessary safety and protection parameters, as well as for

proper set up of phase initialization.

Torque Mode Control connections:

In this mode, the controller provides a +/-10V signal to the amplifier and closes a servo

loop around the motor encoder. The Copley Motion Explorer software should be used to

set the drive into torque mode. Under the heading Operating Mode, select “+/-10V-

>Torque” for the external reference torque mode. The single ended +/-10V analog output

(MOCMDX) from the controller will connect directly to the - Reference of the Copley.

The + Reference signal is then connected to the Signal Ground (GND) of the amplifier.

The Motion Explorer software allows the user to select either a high or low TTL enable

signal. If you are using a standard ICM-1900 or ICM-2900 with the 7407 high enable IC,

select the appropriate high enable box in the Motion Explorer software. A schematic of

the hardware connections is found below. In this torque mode, the PI current loop of the

amplifier will have to be tuned in addition to the PID loop of the controller. Notes on this

may be found in the Performance section of this application note.

1 2 3 4 5

Application Note #5424 1

Summary of Contents

Page 1 - Application Note #5424

Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com

Page 2

Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com Velo

Page 3

Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com enco

Page 4

Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com Har

Page 5

Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com The

Comments to this Manuals

No comments

Copley Controls 7228AC User Manual

Browse online or download User Manual for Audio amplifiers Copley Controls 7228AC. Application Note #5424

Summary of Contents

Comments to this Manuals