Copley Controls Serial Encoder User's Guide Page 187
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C.5: Input Shaping
Input shaping is a method by which unwanted command induced vibrations are kept to a
minimum by damping them with superimposed impulses. This produces a command that
will drive the system with limited residual vibration.
In order to set the input shaping parameters, first measure the mechanical frequency; see
C.5.3: Measuring Mechanical Vibration (p. 189).
Below is a diagram of the input shaping process.
Below is a sensitivity curve. When F = Fm, there is zero vibration.
- CME 2 User Guide 1
- Copley Controls 3 3
- 4 Copley Controls 4
- ABOUT THIS MANUAL 5
- Product Warnings 6
- Revision History 7
- 8 Copley Controls 8
- 10 Copley Controls 10
- Copley Controls 11 11
- 12 Copley Controls 12
- Attribute 12
- 2.1: Install CME 2 Software 14
- 2.2: Start CME 2 Software 15
- 16 Copley Controls 16
- 18 Copley Controls 18
- Copley Controls 19 19
- 2.7: Rename an Amplifier 21
- 2.8: CME 2 Interface Tour 22
- 2.8.2: Main Menu Overview 23
- 2.8.3: Functional Diagram 25
- 26 Copley Controls 26
- 3.1: Warnings and Notes 28
- 3.2: Setup Procedure 29
- 30 Copley Controls 30
- Copley Controls 31 31
- Test with load attached 32
- 34 Copley Controls 34
- 4.2: Motor Options 35
- 4.3: Feedback Options 36
- 4.4: Operating Mode Options 37
- 4.5: Miscellaneous Options 38
- 4.6: ServoTube Setup 39
- 40 Copley Controls 40
- 42 Copley Controls 42
- Copley Controls 43 43
- 46 Copley Controls 46
- Feedback 46
- Parameters/Actions 46
- Copley Controls 47 47
- 48 Copley Controls 48
- Copley Controls 49 49
- 50 Copley Controls 50
- Copley Controls 51 51
- 5.7: Feedback Notes 52
- 5.8: Brake/Stop Parameters 53
- 5.9: Brake/Stop Notes 53
- 5.10: The Calculate Function 54
- No light: not configured 56
- Copley Controls 57 57
- Input Function 57
- 58 Copley Controls 58
- 60 Copley Controls 60
- Output Function 60
- Copley Controls 61 61
- Custom Event Functions 62
- Copley Controls 63 63
- 64 Copley Controls 64
- Trajectory Status Functions 64
- 6.4: Analog I/O 66
- 6.4.2: Analog Output 67
- 68 Copley Controls 68
- 70 Copley Controls 70
- 7.1.1: Analog Command Notes 71
- 72 Copley Controls 72
- 7.2: PWM Input Settings 73
- 7.2.1: PWM Input Notes 74
- Copley Controls 75 75
- 76 Copley Controls 76
- Copley Controls 77 77
- 78 Copley Controls 78
- 7.4.1: Programmed Position 79
- 7.4.2: Programmed Velocity 79
- 7.4.3: Programmed Current 79
- 80 Copley Controls 80
- 8.1: CAN Network 82
- 8.2: MACRO Network 83
- …MACRO Network, continued: 84
- 8.3: EtherCAT Network 85
- 86 Copley Controls 86
- Faults CME 2 User Guide 88
- 88 Copley Controls 88
- Fault Description 88
- Fault Occurs When… 88
- Fault is Corrected When… 88
- 9.2: Fault Latching Notes 89
- 90 Copley Controls 90
- CME 2 User Guide Faults 91
- Copley Controls 91 91
- 92 Copley Controls 92
- 94 Copley Controls 94
- Copley Controls 95 95
- 96 Copley Controls 96
- Copley Controls 97 97
- 98 Copley Controls 98
- Copley Controls 99 99
- 100 Copley Controls 100
- Copley Controls 101 101
- 102 Copley Controls 102
- Increment Rate Values 103
- 10.4: Phase Motor Manually 104
- Copley Controls 105 105
- Setting 106
- Description 106
- 106 Copley Controls 106
- Copley Controls 107 107
- 108 Copley Controls 108
- Copley Controls 109 109
- 110 Copley Controls 110
- CHAPTER 111
- 112 Copley Controls 112
- Parameter 112
- 114 Copley Controls 114
- 11.2: Current Loop Auto Tune 115
- 116 Copley Controls 116
- Copley Controls 117 117
- 11.3.1: Current Loop Diagram 118
- 11.3.2: Current Loop Inputs 118
- 11.3.3: Offset 118
- 11.3.4: Limits 118
- 11.3.5: Current Loop Gains 119
- 11.3.6: Current Loop Output 119
- 120 Copley Controls 120
- 11.5.2: Inputs 122
- 11.5.3: Velocity Loop Limits 122
- 11.5.5: Velocity Loop Gains 123
- Copley Controls 125 125
- 126 Copley Controls 126
- Copley Controls 129 129
- Test S-Curve Profile 130
- 11.7.2: Trajectory Limits 131
- 11.7.4: Position Loop Gains 132
- 11.7.6: Position Wrap 132
- Copley Controls 133 133
- 134 Copley Controls 134
- Copley Controls 135 135
- 136 Copley Controls 136
- Copley Controls 137 137
- 138 Copley Controls 138
- 12.1: Stepper Motor Support 140
- Copley Controls 141 141
- 12.3: Encoder Correction 142
- Copley Controls 143 143
- 144 Copley Controls 144
- Homing CME 2 User Guide 146
- 146 Copley Controls 146
- 14.1: Control Panel Overview 148
- Copley Controls 149 149
- 14.4: Control Functions 150
- 14.5: Jog Mode 151
- 152 Copley Controls 152
- 15.1: Scope Tool Overview 154
- 15.2.2: Profile Tab 155
- 15.4: Trigger Setup 157
- 158 Copley Controls 158
- 15.7: Auto Setup 159
- 15.8: Measurement Tab 160
- 15.9.1: Gains Tab 161
- 162 Copley Controls 162
- Copley Controls 163 163
- 15.10: Scope Files 164
- Save trace data: 165
- View a trace file: 166
- 16.3: Data Management Tools 169
- 16.4: Amplifier Firmware 170
- Copley Controls 171 171
- 16.5: Error Log 172
- 16.6: Communications Log 173
- Copley Controls 174 174
- 176 Copley Controls 176
- APPENDIX 177
- 178 Copley Controls 178
- 180 Copley Controls 180
- C.1: Setting Parameters 182
- C.2.2: Analog 183
- C.2.3: V Loop 183
- C.3: Standard Filter Types 184
- C.3.3: Notch Filter 185
- C.3.4: Band Pass Filter 185
- C.3.5: Custom Biquad Filter 185
- C.4.1: Butterworth Filter 186
- C.4.2: Chebychev Filter 186
- C.4.3: Elliptic Filter 186
- C.5: Input Shaping 187
- C.5.1: Input Shaping Window 188
- C.5.2: Input Shaping Types 188
- CME 2 User Guide Filters 189
- Copley Controls 189 189
- Filters CME 2 User Guide 190
- 190 Copley Controls 190
- T Algorithm 192
- D.1.3: I 193
- 194 Copley Controls 194
- T Scope Trace Variables 195
- 196 Copley Controls 196
- E.1: Homing Methods Overview 198
- Index Pulse 199
- E.3.3: Limit Switch 200
- Copley Controls 201 201
- E.3.5: Hardstop 202
- E.3.6: Hardstop Out to Index 203
- E.3.7: Home Switch 204
- Home Switch 205
- E.3.10: Lower Home 207
- E.3.11: Upper Home 208
- 214 Copley Controls 214
- Copley Controls 215 215
- 216 Copley Controls 216
- G.1: Copley ASCII Interface 218
- 220 Copley Controls 220
- Copley Controls 223 223
- Copley Controls 227 227
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