Copley Controls Serial Encoder User's Guide download pdf (Page 67)

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 Actual Current.

When Manual is chosen the output is set to the programmed value, +/- 5V, entered in mV.

When Actual Current is chosen the output value is proportional to the actual motor

current.

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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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Copley Controls Serial Encoder User's Guide Page 67

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