Copley Controls Serial Encoder User's Guide

CME 2 User Guide P/N CC95-00454-000 Revision C July 2012

Introduction CME 2 User Guide 10 Copley Controls 1.1: Host Computer Requirements 1.1.1: Computer and Operating System Minimal hardware requiremen

Motor Phasing CME 2 User Guide 100 Copley Controls 10.1.4: Auto Phase Example: Stepper Amplifier with Encoder, in Servo Mode 1 Verify that the

CME 2 User Guide Motor Phasing Copley Controls 101 …Auto Phase Example, continued: 6 Click Start to begin the motor wiring setup. The message are

Motor Phasing CME 2 User Guide 102 Copley Controls …Auto Phase Example, continued: 9 When you are ready to observe motion, click OK. See the pro

CME 2 User Guide Motor Phasing Copley Controls 103 10.2: Guidelines for Choosing Auto Phase Current and Increment Rate Values Here are some consid

Motor Phasing CME 2 User Guide 104 Copley Controls 10.4: Phase Motor Manually The CME 2 Manual Phase tool lets the user phase a brushless motor,

CME 2 User Guide Motor Phasing Copley Controls 105 ...Manual Phase Example: Motor with Encoder, continued: 7 Verify actual position count agrees

Motor Phasing CME 2 User Guide 106 Copley Controls Phase Initialization Steps for Motor without Halls The Phase Initialization function is design

CME 2 User Guide Motor Phasing Copley Controls 107 10.4.2: Manual Phase Example: Motor with Resolver 1 Make sure that no load is connected to the

Motor Phasing CME 2 User Guide 108 Copley Controls …Manual Phase Example: Motor with Resolver, continued: 8 Adjust Resolver Offset configuration

CME 2 User Guide Motor Phasing Copley Controls 109 10.5: Troubleshoot Manual Phase w/ Encoder and Halls To perform trapezoidal commutation after p

CME 2 User Guide Introduction Copley Controls 11 1.2: Amplifier Commissioning Software Copley Controls CME 2 software allows fast and easy commiss

Motor Phasing CME 2 User Guide 110 Copley Controls

Copley Controls 111 CHAPTER 11: CONTROL LOOPS This chapter shows how to program and tune the control loops. Perform the basic steps outlined below.

Control Loops CME 2 User Guide 112 Copley Controls 11.1: Current Loop Setup and Tuning Initial current loop proportional gain (Cp) and current lo

CME 2 User Guide Control Loops Copley Controls 113 Manually tune the Current Loop METHOD: Apply square-wave excitation to the current loop and

Control Loops CME 2 User Guide 114 Copley Controls …Manually Tune the Current Loop, continued: 5 Click Start. 6 On the Gains tab, adjust curre

CME 2 User Guide Control Loops Copley Controls 115 11.2: Current Loop Auto Tune Tune the Current Loop with Auto Tune METHOD: The current loop A

Control Loops CME 2 User Guide 116 Copley Controls ...Tune the Current Loop with Auto Tune, continued: 5 Observe the Auto Tune process and resul

CME 2 User Guide Control Loops Copley Controls 117 ...Tune the Current Loop with Auto Tune, continued: 6 Choose an action based on Auto Tune resu

Control Loops CME 2 User Guide 118 Copley Controls 11.3: Notes on the Current Mode and Current Loop 11.3.1: Current Loop Diagram As shown below,

CME 2 User Guide Control Loops Copley Controls 119 11.3.5: Current Loop Gains The current loop uses these gains: Gain Description Cp - Current loo

Introduction CME 2 User Guide 12 Copley Controls Basic Attributes of All Servo Control Loops These loops share several common attributes: Loop At

Control Loops CME 2 User Guide 120 Copley Controls 11.4: Velocity Loop Setup and Tuning Initial velocity loop proportional gain (Vp) and velocity

CME 2 User Guide Control Loops Copley Controls 121 Manually Tune the Velocity Loop METHOD: Apply square-wave excitation to velocity loop and ad

Control Loops CME 2 User Guide 122 Copley Controls 11.5: Notes on the Velocity Mode and Velocity Loop 11.5.1: Velocity Loop Diagram As shown belo

CME 2 User Guide Control Loops Copley Controls 123 11.5.4: Diagram: Effects of Limits on Velocity Command The following diagram illustrates the ef

Control Loops CME 2 User Guide 124 Copley Controls 11.6: Position Loop Setup and Tuning Initial position loop proportional gain (Pp), velocity fe

CME 2 User Guide Control Loops Copley Controls 125 …Enter basic Position Loop settings, continued: 3 Optionally click Position Wrap to open the Po

Control Loops CME 2 User Guide 126 Copley Controls …Enter basic Position Loop settings, continued: 6 Change/verify the trajectory values as neede

CME 2 User Guide Control Loops Copley Controls 127 Manually Tune the Position Loop METHOD: Minimize following error and oscillation by running

Control Loops CME 2 User Guide 128 Copley Controls …Manually Tune the Position Loop, continued: 6 and Set up a trapezoidal profile by setting

CME 2 User Guide Control Loops Copley Controls 129 … Manually Tune the Position Loop, Continued: 9 Adjust acceleration feed forward (Aff):  Acc

Copley Controls 13 CHAPTER 2: INSTALLATION, STARTUP, AND INTERFACE TOUR This chapter shows how to install, start, and set up communications for CM

Control Loops CME 2 User Guide 130 Copley Controls Test S-Curve Profile DISCUSSION: If the amplifier will perform S-Curve profile moves, use t

CME 2 User Guide Control Loops Copley Controls 131 11.7: Notes on the Position Mode and Position Loop 11.7.1: Position Loop Diagram The amplifier

Control Loops CME 2 User Guide 132 Copley Controls 11.7.4: Position Loop Gains The following gains are used by the position loop to calculate the

CME 2 User Guide Control Loops Copley Controls 133 11.8: Auto Tune all Loops for Linear Motors The Auto Tune all loops feature is available for us

Control Loops CME 2 User Guide 134 Copley Controls … Auto Tune all Loops for Linear Motors, continued: 5 Click Start to tune the current loop. D

CME 2 User Guide Control Loops Copley Controls 135 … Auto Tune all Loops for Linear Motors, continued: 8 When the motor is centered, click Next.

Control Loops CME 2 User Guide 136 Copley Controls … Auto Tune all Loops for Linear Motors, continued: 10 Click Start to tune the velocity loop.

CME 2 User Guide Control Loops Copley Controls 137 … Auto Tune all Loops for Linear Motors, continued: 12 Verify the Move Type setting (S-Curve o

Control Loops CME 2 User Guide 138 Copley Controls

Copley Controls 139 CHAPTER 12: STEPPER CONTROLS This chapter describes set up and tuning steps that are particular to stepper amplifiers. The basi

Installation, Startup, and Interface Tour CME 2 User Guide 14 Copley Controls 2.1: Install CME 2 Software Optionally download software from the

Stepper Controls CME 2 User Guide 140 Copley Controls 12.1: Stepper Motor Support CME 2 supports Copley’s stepper amplifier family. Stepper ampl

CME 2 User Guide Stepper Controls Copley Controls 141 3 Click the Position Loop Values tab: 4 Change/verify the values as needed: Limit Descrip

Stepper Controls CME 2 User Guide 142 Copley Controls 12.3: Encoder Correction For a stepper motor with an encoder, encoder correction may be use

CME 2 User Guide Stepper Controls Copley Controls 143 Detent Compensation Gain Stepper motors are subject to torque detent that can cause undesir

Stepper Controls CME 2 User Guide 144 Copley Controls

Copley Controls 145 CHAPTER 13: HOMING Set homing parameters and run optional homing tests. Perform the steps outlined below. 1 On Main screen,

Homing CME 2 User Guide 146 Copley Controls …Homing Parameters, continued: Slow Velocity The velocity used to find a switch edge, incremental or a

Copley Controls 147 CHAPTER 14: CONTROL PANEL Become familiar with the CME 2 Control Panel and its functions. Perform the steps outlined below to a

Control Panel CME 2 User Guide 148 Copley Controls 14.1: Control Panel Overview Each of the Control Panel features labeled below is described in

CME 2 User Guide Control Panel Copley Controls 149 14.3: Control Panel Monitor Channels The Control Panel Monitor channels can display real-time v

CME 2 User Guide Installation, Startup, and Interface Tour Copley Controls 15 2.2: Start CME 2 Software 1 Double-click the CME 2 shortcut icon

Control Panel CME 2 User Guide 150 Copley Controls 14.4: Control Functions The Control area of the screen provides functions related to overall a

CME 2 User Guide Control Panel Copley Controls 151 14.5: Jog Mode Jog mode provides a simple means for generating forward or reverse commands, as

Control Panel CME 2 User Guide 152 Copley Controls

Copley Controls 153 CHAPTER 15: SCOPE TOOL This chapter shows how to use the CME 2 Scope Tool to program and test motion sequences. Perform the ste

Scope Tool CME 2 User Guide 154 Copley Controls 15.1: Scope Tool Overview The Scope Tool can be used to tune the amplifier, monitor performance,

CME 2 User Guide Scope Tool Copley Controls 155 15.2: Function Generator and Profile Tabs The Function and Profile generators can provide inputs t

Scope Tool CME 2 User Guide 156 Copley Controls 15.3: Trace Channel Variable Parameters Choose a trace variable for display in a Scope channel

CME 2 User Guide Scope Tool Copley Controls 157 15.4: Trigger Setup Set up Scope trace trigger (manual setup) 1 Click Trigger Setup to open th

Scope Tool CME 2 User Guide 158 Copley Controls 15.5: Trace Time, Sample Rate and Single Trace Trace Time sets the length of the recorded trace.

CME 2 User Guide Scope Tool Copley Controls 159 15.6.2: Zoom Zoom in on a Trace Segment 1 Hold the left mouse button down while dragging a box a

Installation, Startup, and Interface Tour CME 2 User Guide 16 Copley Controls 2.3: Configure Serial Port Parameters One or more serial ports on a

Scope Tool CME 2 User Guide 160 Copley Controls 15.8: Measurement Tab The Measurement tab allows you to measure and analyze data from up to three

CME 2 User Guide Scope Tool Copley Controls 161 15.9: Control Loop Parameters The Scope tool provides convenient access to all of the control loop

Scope Tool CME 2 User Guide 162 Copley Controls 15.9.2: Trajectory Limits Tab In position mode, the Trajectory Limits tab can be used to set traj

CME 2 User Guide Scope Tool Copley Controls 163 15.9.4: Velocity Loop Parameters In position and velocity modes, the Velocity Params tab can be us

Scope Tool CME 2 User Guide 164 Copley Controls 15.10: Scope Files The Scope Tool allows you to save both scope settings and scope trace data. Sa

CME 2 User Guide Scope Tool Copley Controls 165 15.10.2: Scope Trace Files The Scope Tool can save trace data in Copley Controls scope files (.sco

Scope Tool CME 2 User Guide 166 Copley Controls View a trace file: 1 On the Main screen, choose ToolsView Scope Files to open the window. 2 Cl

Copley Controls 167 CHAPTER 16: DATA, FIRMWARE, AND LOGS This chapter describes how CME 2 manages amplifier data and firmware, how to download firm

Data, Firmware, and Logs CME 2 User Guide 168 Copley Controls 16.1: Amplifier RAM and Flash Memory Amplifier RAM holds status data and certain us

CME 2 User Guide Data, Firmware, and Logs Copley Controls 169 16.3: Data Management Tools 16.3.1: Amplifier Data Management Tools Operations perfo

CME 2 User Guide Installation, Startup, and Interface Tour Copley Controls 17 ...Configure Serial Port Parameters, continued: 5 Click Next to sav

Data, Firmware, and Logs CME 2 User Guide 170 Copley Controls 16.3.3: Save MACRO File for Delta Tau Controllers This feature is available only on

CME 2 User Guide Data, Firmware, and Logs Copley Controls 171 …Download Firmware to the Amplifier, continued: 3 To save amplifier and motor data f

Data, Firmware, and Logs CME 2 User Guide 172 Copley Controls 16.5: Error Log Copley amplifiers track faults and warnings in a log in flash memor

CME 2 User Guide Data, Firmware, and Logs Copley Controls 173 16.6: Communications Log The communications log tracks all communications between CM

Copley Controls 174

Copley Controls 175 CHAPTER 17: VIRTUAL AMPLIFIER Virtual amplifiers can be used for training and for creating motor data files off line. A new vi

Virtual Amplifier CME 2 User Guide 176 Copley Controls

Copley Controls 177 APPENDIX A: COPY AMPLIFIER DATA Perform steps 1-5 to configure an amplifier/motor pair by copying a .ccx file that was prepared

Copy Amplifier Data CME 2 User Guide 178 Copley Controls

Copley Controls 179 APPENDIX B: LOCK/UNLOCK CME 2 CONTROLS Optionally lock CME 2 to prevent changes to amplifier settings. TIP: Lock CME 2 to preve

Installation, Startup, and Interface Tour CME 2 User Guide 18 Copley Controls 2.4: Configure CAN Network Parameters A CAN port can be used to con

Lock/Unlock CME 2 Controls CME 2 User Guide 180 Copley Controls

Copley Controls 181 APPENDIX C: FILTERS Filters can be used to inhibit interference frequencies or dampen mechanical oscillations. Topics in this ch

Filters CME 2 User Guide 182 Copley Controls C.1: Setting Parameters To change or view filter configurations follow these steps: 1 Choose the Con

CME 2 User Guide Filters Copley Controls 183 C.2.2: Analog The Analog tab opens a window that shows analog filter choices and a representative cu

Filters CME 2 User Guide 184 Copley Controls C.2.4: I Loop The I Loop tab opens a window that shows Current Loop filter choices and a representativ

CME 2 User Guide Filters Copley Controls 185 C.3.3: Notch Filter Notch filters allow a bandstop in a range between two selectable frequencies. I

Filters CME 2 User Guide 186 Copley Controls C.4: Standard Filter Families C.4.1: Butterworth Filter A Butterworth filter has two poles for faster

CME 2 User Guide Filters Copley Controls 187 C.5: Input Shaping Input shaping is a method by which unwanted command induced vibrations are kept t

Filters CME 2 User Guide 188 Copley Controls C.5.1: Input Shaping Window The Input Shaping tab opens a window that shows Input Shaping choices and

CME 2 User Guide Filters Copley Controls 189 C.5.3: Measuring Mechanical Vibration There are several ways to measure mechanical vibration. Two ch

CME 2 User Guide Installation, Startup, and Interface Tour Copley Controls 19 2.5: Configure EtherCAT Network Parameters 1 Double-click the CME

Filters CME 2 User Guide 190 Copley Controls

Copley Controls 191 APPENDIX D: I2T TIME LIMIT ALGORITHM This chapter describes the algorithm used to implement the I2T limit. Topics include: D.1

I2T Time Limit Algorithm CME 2 User Guide 192 Copley Controls D.1: I2T Algorithm D.1.1: I2T Overview The I2T current limit algorithm continuously

CME 2 User Guide I2T Time Limit Algorithm Copley Controls 193 D.1.3: I2T Current Limit Algorithm – Application Example I2T Example: Parameters Op

I2T Time Limit Algorithm CME 2 User Guide 194 Copley Controls I2T Example: Plot Diagrams The plots that follow show the response of an amplifier (c

CME 2 User Guide I2T Time Limit Algorithm Copley Controls 195 even though the commanded current remains at 12 A. The I2T Accumulator Variable val

I2T Time Limit Algorithm CME 2 User Guide 196 Copley Controls

Copley Controls 197 APPENDIX E: HOMING METHODS This appendix describes the homing methods that can be chosen using the CME 2 homing controls descri

Homing Methods CME 2 User Guide 198 Copley Controls E.1: Homing Methods Overview There are several homing methods. Each method establishes the: 

CME 2 User Guide Homing Methods Copley Controls 199 E.3: Homing Method Descriptions E.3.1: Set current position as home The current position is th

CME 2 User Guide

Installation, Startup, and Interface Tour CME 2 User Guide 20 Copley Controls 2.6: Connect to an Amplifier in CME 2 Choose an amplifier by clicki

Homing Methods CME 2 User Guide 200 Copley Controls E.3.3: Limit Switch Direction of Motion: Positive Home is the transition of the positive limit

CME 2 User Guide Homing Methods Copley Controls 201 E.3.4: Limit Switch Out to Index Direction of Motion: Positive Home is the first index pulse

Homing Methods CME 2 User Guide 202 Copley Controls E.3.5: Hardstop Direction of Motion: Positive Home is the positive hard stop. Direction of moti

CME 2 User Guide Homing Methods Copley Controls 203 E.3.6: Hardstop Out to Index Direction of Motion: Positive Home is the first index pulse on th

Homing Methods CME 2 User Guide 204 Copley Controls E.3.7: Home Switch Direction of Motion: Positive Home is the home switch transition. Initial di

CME 2 User Guide Homing Methods Copley Controls 205 E.3.8: Home Switch Out to Index Direction of Motion: Positive Home is the first index pulse to

Homing Methods CME 2 User Guide 206 Copley Controls E.3.9: Home Switch In to Index Direction of Motion: Positive Home is the first index pulse to t

CME 2 User Guide Homing Methods Copley Controls 207 E.3.10: Lower Home Direction of Motion: Positive Home is the negative edge of a momentary hom

Homing Methods CME 2 User Guide 208 Copley Controls E.3.11: Upper Home Direction of Motion: Positive Home is the positive edge of a momentary home

CME 2 User Guide Homing Methods Copley Controls 209 E.3.12: Lower Home Outside Index Direction of Motion: Positive Home is the first index pulse o

CME 2 User Guide Installation, Startup, and Interface Tour Copley Controls 21 2.7: Rename an Amplifier Each amplifier represented in the Copley Ne

Homing Methods CME 2 User Guide 210 Copley Controls E.3.13: Lower Home Inside Index Direction of Motion: Positive Home is the first index pulse on

CME 2 User Guide Homing Methods Copley Controls 211 E.3.14: Upper Home Outside Index Direction of Motion: Positive Home is the first index pulse o

Homing Methods CME 2 User Guide 212 Copley Controls E.3.15: Upper Home Inside Index Direction of Motion: Positive Home is the first index pulse on

Copley Controls 213 APPENDIX F: REGEN RESISTOR CONFIGURATION Optionally configure a regen resistor. Details follow in the chapter. ! WARNING Incorre

Regen Resistor Configuration CME 2 User Guide 214 Copley Controls Configure a Standard Copley Controls Regen Resistor 1 Click Configure Regen

CME 2 User Guide Regen Resistor Configuration Copley Controls 215 …Configure a Custom Regen Resistor, continued: 2 Select Custom Resistor and cli

Regen Resistor Configuration CME 2 User Guide 216 Copley Controls View Regen Settings on a Virtual Amplifier 1 Click Configure Regen Settings to

Copley Controls 217 APPENDIX G: ASCII COMMANDS/SERIAL CONTROL This chapter describes how to configure and operate an amplifier by sending ASCII comm

ASCII Commands/Serial Control CME 2 User Guide 218 Copley Controls G.1: Copley ASCII Interface An amplifier’s RS-232 serial bus can be used by an e

CME 2 User Guide ASCII Commands/Serial Control Copley Controls 219 G.3: Single-Axis Serial Connection For RS-232 serial bus control of a single ax

Installation, Startup, and Interface Tour CME 2 User Guide 22 Copley Controls 2.8: CME 2 Interface Tour CME 2 features are called out in the diag

ASCII Commands/Serial Control CME 2 User Guide 220 Copley Controls

Copley Controls 221 APPENDIX H: GAIN SCHEDULING The Gain Scheduling feature allows you to schedule gain adjustments based on changes to a key parame

Gain Scheduling CME 2 User Guide 222 Copley Controls H.1: Configure Gain Scheduling Use this procedure to select basic Gain Scheduling options.

CME 2 User Guide Gain Scheduling Copley Controls 223 H.2: Set Up the Gain Scheduling Table(s) H.2.1: Create a Gain Scheduling Table 1 If necessa

Gain Scheduling CME 2 User Guide 224 Copley Controls … Create a Gain Scheduling Table, continued: 4 If there is already a table stored in flas

CME 2 User Guide Gain Scheduling Copley Controls 225 H.2.2: Edit Gain Scheduling Table Values 1 If necessary, Start CME 2 Software (p. 15). 2 On

Gain Scheduling CME 2 User Guide 226 Copley Controls H.2.3: Save and Restore Gain Scheduling Tables and Settings The Config tab settings and Tab

CME 2 User Guide Gain Scheduling Copley Controls 227 H.3: Gain Scheduling Table Guidelines A Gain Scheduling Table contains a progression of Key P

CME 2 User Guide P/N CC95-00454-000 Revision C July 2012  2006 through 2012 Copley Controls 20 Dan Road Canton, MA 02021 USA All rights reserve

CME 2 User Guide Installation, Startup, and Interface Tour Copley Controls 23 2.8.2: Main Menu Overview The CME 2 Main Menu choices are described

Installation, Startup, and Interface Tour CME 2 User Guide 24 Copley Controls ...Main Menu Choices, continued: Menu Selection Description For Mo

CME 2 User Guide Installation, Startup, and Interface Tour Copley Controls 25 2.8.3: Functional Diagram The functional diagram, shown below, provi

Installation, Startup, and Interface Tour CME 2 User Guide 26 Copley Controls 2.8.4: CAN Information and Status Bar CAN Information The Main scre

Copley Controls 27 CHAPTER 3: AMPLIFIER SETUP PROCEDURE Perform the steps listed below, in the order presented, to set up and tune an amplifier/mot

Amplifier Setup Procedure CME 2 User Guide 28 Copley Controls 3.1: Warnings and Notes NOTE: To immediately software disable the amplifier at any

CME 2 User Guide Amplifier Setup Procedure Copley Controls 29 3.2: Setup Procedure 1 Prepare for setup  Understand this procedure’s Warnings an

Copley Controls 3 TABLE OF CONTENTS About This Manual ...

Amplifier Setup Procedure CME 2 User Guide 30 Copley Controls ...Setup Procedure, continued: 3 Enter Motor/Feedback/Brake Stop parameters  Cli

CME 2 User Guide Amplifier Setup Procedure Copley Controls 31 ...Setup Procedure, continued: 7 Configure faults  Click Configure Faults to open

Amplifier Setup Procedure CME 2 User Guide 32 Copley Controls ...Setup Procedure, continued: 13 Test with load attached  On the CME 2 Main scr

Copley Controls 33 CHAPTER 4: BASIC SETUP This chapter describes the Basic Setup screen. Perform the basic steps outlined below to access and ent

Basic Setup CME 2 User Guide 34 Copley Controls 4.1: Change Basic Setup Settings 1 On the Basic Setup screen, click Change Settings to start t

CME 2 User Guide Basic Setup Copley Controls 35 …Change Basic Setup Settings, continued: 4 Set Operating Mode Options (p.37). 5 Set Miscellane

Basic Setup CME 2 User Guide 36 Copley Controls 4.3: Feedback Options View or change the settings described below. Options vary with amplifier m

CME 2 User Guide Basic Setup Copley Controls 37 …Feedback Options, continued: Stepper Amplifiers Only Motor Encoder Select the encoder type: 

Basic Setup CME 2 User Guide 38 Copley Controls 4.5: Miscellaneous Options View or change the settings described below. Options vary with amplifi

CME 2 User Guide Basic Setup Copley Controls 39 4.6: ServoTube Setup The ServoTube Setup tool sets up the amplifier for use with the chosen Serv

Table of Contents CME 2 User Guide 4 Copley Controls 12.2: Position Limits (Stepper Amplifier) ...

Basic Setup CME 2 User Guide 40 Copley Controls …Set Up a ServoTube Motor, continued: 4 Set Miscellaneous Options (p. 38). 5 When satisfied wit

Copley Controls 41 CHAPTER 5: MOTOR/FEEDBACK This chapter describes motor, feedback, and brake parameters, and the Calculate function. Access th

Motor/Feedback CME 2 User Guide 42 Copley Controls 5.1: Motor/Feedback Screen Overview A typical Motor/Feedback screen is shown below. Parameters

CME 2 User Guide Motor/Feedback Copley Controls 43 5.2: Load Motor/Feedback/Brake Settings from a File 1 If needed, download a motor data file fr

Motor/Feedback CME 2 User Guide 44 Copley Controls 5.3: Rotary Motor Setup Parameters View or change the settings described below. Options vary

CME 2 User Guide Motor/Feedback Copley Controls 45 5.4: Linear Motor Setup Parameters View or change the settings described below. Options vary wi

Motor/Feedback CME 2 User Guide 46 Copley Controls 5.5: Feedback Parameters, Rotary As appropriate for each encoder or resolver, enter the param

CME 2 User Guide Motor/Feedback Copley Controls 47 SSI In the counts per rev text field, enter the number of counts per revolution, (see data she

Motor/Feedback CME 2 User Guide 48 Copley Controls Absolute A In the Bits text field specify the number of bits used for single turn resolution

CME 2 User Guide Motor/Feedback Copley Controls 49 EnDat In the Bits text field specify the number of bits used for single turn resolution (see en

Copley Controls 5 ABOUT THIS MANUAL Overview and Scope This manual describes the installation and use of Copley Controls CME 2 software. Related Doc

Motor/Feedback CME 2 User Guide 50 Copley Controls 5.6: Feedback Parameters, Linear As appropriate for each encoder installed, enter the paramet

CME 2 User Guide Motor/Feedback Copley Controls 51 SSI Choose units and then enter the Encoder Resolution (see encoder or motor data sheet). In th

Motor/Feedback CME 2 User Guide 52 Copley Controls 5.7: Feedback Notes 5.7.1: Encoder and Resolver Support Some Copley Controls amplifiers are of

CME 2 User Guide Motor/Feedback Copley Controls 53 5.8: Brake/Stop Parameters Enter the following parameters as appropriate. Parameter Descriptio

Motor/Feedback CME 2 User Guide 54 Copley Controls 5.10: The Calculate Function The Calculate function uses programmed motor and encoder values t

Copley Controls 55 CHAPTER 6: DIGITAL INPUTS AND OUTPUTS This chapter shows how to configure the amplifier’s digital inputs and outputs. Perform th

Digital Inputs and Outputs CME 2 User Guide 56 Copley Controls 6.1: Digital Inputs 6.1.1: Digital Inputs Screen Overview A typical Input/Output s

CME 2 User Guide Digital Inputs and Outputs Copley Controls 57 6.1.2: Digital Input Functions The programmable digital input functions are describ

Digital Inputs and Outputs CME 2 User Guide 58 Copley Controls 6.1.3: Standard Input Function Assignments Enable Input: On some Copley Controls a

CME 2 User Guide Digital Inputs and Outputs Copley Controls 59 6.2: Digital Outputs 6.2.1: Screen Overview A typical Digital Outputs screen is sh

About this Manual CME 2 User Guide 6 Copley Controls Product Warnings Observe all relevant state, regional and local safety regulations when inst

Digital Inputs and Outputs CME 2 User Guide 60 Copley Controls 6.2.2: Digital Output Functions Copley drives can have either opto-isolated or non

CME 2 User Guide Digital Inputs and Outputs Copley Controls 61 6.2.3: Custom Digital Output Settings: Custom Event Any of the amplifier’s digital

Digital Inputs and Outputs CME 2 User Guide 62 Copley Controls Custom Event Functions Select any combination of events to configure a custom even

CME 2 User Guide Digital Inputs and Outputs Copley Controls 63 Non-Latched vs. Latched Custom Event Digital Outputs Like an amplifier fault, a cus

Digital Inputs and Outputs CME 2 User Guide 64 Copley Controls 6.2.4: Custom Digital Output Settings: Custom Trajectory Status Any of the amplifi

CME 2 User Guide Digital Inputs and Outputs Copley Controls 65 6.2.5: Custom Output Settings: Position Triggered Output Any of the amplifier’s di

Digital Inputs and Outputs CME 2 User Guide 66 Copley Controls 6.3: Synchronizing PWM Switching Frequency In some situations, such as when sampli

CME 2 User Guide Digital Inputs and Outputs Copley Controls 67 6.4.2: Analog Output The Analog Output has two modes of operation, Manual and Actua

Digital Inputs and Outputs CME 2 User Guide 68 Copley Controls

Copley Controls 69 CHAPTER 7: COMMAND INPUTS This chapter shows how to configure the amplifier’s command inputs. Perform the basic steps outlined

CME 2 User Guide About this Manual Copley Controls 7 Revision History Revision Date ECO # Applies to Comments 1 February 2006 CME 2 Software ver

Command Inputs CME 2 User Guide 70 Copley Controls 7.1: Analog Command Settings View or change the settings described below. Parameter Descri

CME 2 User Guide Command Inputs Copley Controls 71 7.1.1: Analog Command Notes The amplifier can be driven by an analog voltage signal through t

Command Inputs CME 2 User Guide 72 Copley Controls Offset To remove the effects of voltage offsets between the controller and the amplifier in op

CME 2 User Guide Command Inputs Copley Controls 73 7.2: PWM Input Settings View or change the settings described below. Parameter Description Sc

Command Inputs CME 2 User Guide 74 Copley Controls 7.2.1: PWM Input Notes Two Formats The amplifier can accept a pulse width modulated (PWM) si

CME 2 User Guide Command Inputs Copley Controls 75 100% Duty Cycle Format (Two-Wire) One input takes a PWM waveform of fixed frequency and variab

Command Inputs CME 2 User Guide 76 Copley Controls 7.3: Digital Position Input Settings View or change the settings described below. Parameter D

CME 2 User Guide Command Inputs Copley Controls 77 Pulse and Direction Format In pulse and direction format, one input takes a series of pulses a

Command Inputs CME 2 User Guide 78 Copley Controls Count Up/Count Down Format In the count up/count down format, one input takes each pulse as a

CME 2 User Guide Command Inputs Copley Controls 79 7.4.1: Programmed Position View or change the settings described below. Setting Description M

About this Manual CME 2 User Guide 8 Copley Controls

Command Inputs CME 2 User Guide 80 Copley Controls

Copley Controls 81 CHAPTER 8: NETWORK CONFIGURATION This chapter shows how to configure CAN, MACRO or EtherCAT networks. 8.1: CAN Network ...

Network Configuration CME 2 User Guide 82 Copley Controls 8.1: CAN Network A CANopen network can support up to 127 nodes. Each node must have a u

CME 2 User Guide Network Configuration Copley Controls 83 8.2: MACRO Network A Delta Tau PMAC card can hold up to four MACRO IC’s, each of which

CME 2 User Guide Network Configuration Copley Controls 84 …MACRO Network, continued: 3 Verify the following parameters. Parameter Description S

CME 2 User Guide Network Configuration Copley Controls 85 8.3: EtherCAT Network An EtherCAT network enables high-speed control of multiple axes

Network Configuration CME 2 User Guide 86 Copley Controls

Copley Controls 87 CHAPTER 9: FAULTS This chapter shows how to configure the amplifier’s fault latching. Perform the basic steps outlined below. De

Faults CME 2 User Guide 88 Copley Controls 9.1: Fault Configuration Parameters Each of the following faults can be latched by selecting it on the

CME 2 User Guide Faults Copley Controls 89 9.2: Fault Latching Notes 9.2.1: Clearing Non-Latched Faults The amplifier clears a non-latched fault,

Copley Controls 9 CHAPTER 1: INTRODUCTION This chapter describes the basic functions and operational theory of CME 2. Topics include: 1.1: Host Co

Faults CME 2 User Guide 90 Copley Controls 9.3: Position and Velocity Error Notes 9.3.1: Error-Handling Methods In position mode, any difference

CME 2 User Guide Faults Copley Controls 91 9.3.5: Following Error Fault Details Position Error Reaches Fault Level As described earlier, position

Faults CME 2 User Guide 92 Copley Controls 9.3.6: Tracking Window Details Proper Tracking Over Time As described earlier, position error is the d

Copley Controls 93 CHAPTER 10: MOTOR PHASING This chapter shows how to phase the motor using the Auto Phase or Manual Phase tool. Perform the basic

Motor Phasing CME 2 User Guide 94 Copley Controls 10.1: Phase Motor with Auto Phase Choose the appropriate procedure: Auto Phase Example: Servo A

CME 2 User Guide Motor Phasing Copley Controls 95 …Auto Phase Example, continued: 5 Activate the Enable Input. 6 Click Start to begin the motor w

Motor Phasing CME 2 User Guide 96 Copley Controls …Auto Phase Example, continued: 9 When you are ready to observe motion, click OK. See the prom

CME 2 User Guide Motor Phasing Copley Controls 97 …Auto Phase Example, continued: 13 For a resolver (-R) version of a Copley Controls amplifier,

Motor Phasing CME 2 User Guide 98 Copley Controls 10.1.2: Auto Phase Example: Stepper Amplifier, No Encoder 1 Verify that the Enable Input is no

CME 2 User Guide Motor Phasing Copley Controls 99 10.1.3: Auto Phase Example: Stepper Amplifier with Encoder, in Stepper Mode 1 Verify that the E