CME 2 User Guide P/N CC95-00454-000 Revision C July 2012
CME 2 User Guide
TABLE OF CONTENTS About This Manual ................................................................................................................................................................................ 5 1: Introduction ................................................................................................................................................................................. 9 1.1: Host Computer Requirements .....................................................................
Table of Contents 13: 14: 15: 16: 17: A: B: C: D: E: F: G: H: 4 CME 2 User Guide 12.2: Position Limits (Stepper Amplifier) .................................................................................................................................... 140 12.3: Encoder Correction ........................................................................................................................................................... 142 Homing .................................................
ABOUT THIS MANUAL Overview and Scope This manual describes the installation and use of Copley Controls CME 2 software.
About this Manual CME 2 User Guide Product Warnings Observe all relevant state, regional and local safety regulations when installing and using Copley Controls amplifiers. For safety and to assure compliance with documented system data, only Copley Controls should perform repairs to amplifiers. Hazardous voltages. ! DANGER Exercise caution when installing and adjusting Copley amplifiers. Risk of electric shock. On some Copley Controls amplifiers, high-voltage circuits are connected to mains power.
CME 2 User Guide About this Manual Revision History Revision Date Applies to Comments 1 February 2006 ECO # CME 2 Software version 4.1. Firmware version 4.66 or higher. Initial publication. Adapted from Xenus User’s Guide v2.0. 2 August 2006 CME 2 Software version 4.2. Firmware version 5.04 or higher. Various changes. 3 June 2007 15383 CME 2 Software version 5.0. Changes include new Auto Tune all Loops for Linear Motors (p. 133) and a new way to Change Basic Setup Settings (p. 34).
About this Manual 8 CME 2 User Guide Copley Controls
CHAPTER 1: INTRODUCTION This chapter describes the basic functions and operational theory of CME 2. Topics include: 1.1: Host Computer Requirements .............................................................................................................................................. 10 1.1.1: Computer and Operating System ............................................................................................................................. 10 1.1.2: Special Notes for Windows 7 and Vista Users .
Introduction CME 2 User Guide 1.1: Host Computer Requirements 1.1.1: Computer and Operating System Minimal hardware requirements: CPU: 1 GHZ. RAM: 512 MB. Operating Systems Supported: Windows 2000, XP, Vista, and Windows 7. 1.1.2: Special Notes for Windows 7 and Vista Users When the installer starts, Windows 7 or Vista displays a message stating that an unidentified program is trying to access the computer. Click the button to allow the installer to continue, and CME 2 will be installed properly.
CME 2 User Guide Introduction 1.2: Amplifier Commissioning Software Copley Controls CME 2 software allows fast and easy commissioning of Copley Controls amplifiers. It provides access to all amplifier configuration controls. It supports all Copley Controls amplifiers, including Copley’s CANopen amplifier lines and stepper amplifiers. CME 2 communicates with amplifiers via RS-232, CAN or EtherCAT connections.
Introduction CME 2 User Guide Basic Attributes of All Servo Control Loops These loops share several common attributes: Loop Attribute Description Command input Every loop is given a value to which it will attempt to control. For example, the velocity loop receives a velocity command that is the desired motor speed. Limits Limits are set on each loop to protect the motor and/or mechanical system.
CHAPTER 2: INSTALLATION, STARTUP, AND INTERFACE TOUR This chapter shows how to install, start, and set up communications for CME 2. Verify that the system on which you will install CME 2 meets the Host Computer Requirements (p. 10). Topics include: 2.1: Install CME 2 Software ......................................................................................................................................................... 14 2.2: Start CME 2 Software ....................................................
Installation, Startup, and Interface Tour CME 2 User Guide 2.1: Install CME 2 Software Optionally download software from the Web 1 Choose or create a folder where you will download the software installation file. 2 In an internet browser, navigate to: http://www.copleycontrols.com/Motion/Downloads/index.html 3 Under Software Releases, click on CME 2. 4 When prompted, save the CME2.zip file to the folder chosen or created in Step 1. The folder should now contain a file named CME2.zip.
CME 2 User Guide Installation, Startup, and Interface Tour 2.2: Start CME 2 Software 1 Double-click the CME 2 shortcut icon on the Windows desktop to start CME 2. 2 If communications were set up already… If communications were not set up… …the CME 2 Main Screen opens. If there are multiple ports, the Copley Neighborhood root will be selected as shown below: …see the screen below: Select the desired amplifier. For instance: In this case, proceed to Configure Serial Port Parameters (p.
Installation, Startup, and Interface Tour CME 2 User Guide 2.3: Configure Serial Port Parameters One or more serial ports on a PC can be used to connect amplifiers. Use the following instructions to add ports for amplifiers, to choose baud rates for those ports, and to remove ports for amplifiers. 1 Double-click the CME 2 shortcut icon on the Windows desktop to start CME 2. If communications has not been set up, the Communications Wizard Select device screen appears.
CME 2 User Guide Installation, Startup, and Interface Tour ...Configure Serial Port Parameters, continued: 5 Click Next to save the choices and open the Communications Wizard Configure Serial Ports screen. 6 Configure the desired ports. 7 Highlight a port in the Selected Ports list. Choose a Baud Rate for that port. Repeat for each selected port. Click Finish to save the choices.
Installation, Startup, and Interface Tour CME 2 User Guide 2.4: Configure CAN Network Parameters A CAN port can be used to connect the host PC to one or more amplifiers. Use the following instructions to configure CAN network settings. 1 Double-click the CME 2 shortcut icon on the Windows desktop to start CME 2. If communications has not been set up, the Communications Wizard Select device screen appears.
CME 2 User Guide Installation, Startup, and Interface Tour 2.5: Configure EtherCAT Network Parameters 1 Double-click the CME 2 shortcut icon on the Windows desktop to start CME 2. If communications has not been set up, the Communications Wizard Select device screen appears. 2 If the CME 2 Main screen appears instead of Select device, choose ToolsCommunications Wizard. 3 Choose EtherCAT and click Next to open the Communications Wizard Network Adapters screen.
Installation, Startup, and Interface Tour CME 2 User Guide 2.6: Connect to an Amplifier in CME 2 Choose an amplifier by clicking on its name in the Copley Neighborhood. The neighborhood organizes amplifiers according to the connection method. One serial port: Multiple serial ports: CAN network: Multi-drop: CAN EtherCAT network: When there is only one amplifier available for connection, the software will connect automatically on startup.
CME 2 User Guide Installation, Startup, and Interface Tour 2.7: Rename an Amplifier Each amplifier represented in the Copley Neighborhood amplifier tree has a name. The default name for an amplifier is unnamed. Use this procedure to rename an amplifier. 1 Choose Main Menu AmplifierRename to open the Rename Amplifier screen. 2 Enter the new name and click OK to close the screen.
Installation, Startup, and Interface Tour CME 2 User Guide 2.8: CME 2 Interface Tour CME 2 features are called out in the diagram below. Screen details vary depending on amplifier model and mode selection. Details follow in the chapter. 2.8.1: Tool Bar Overview Click on any of the tools in the toolbar to access the tools described below. Icon 22 Name Description For More Information Basic Setup Opens Basic Setup screen. Basic Setup (p. 33) Control Panel Opens Control Panel. Control Panel (p.
CME 2 User Guide Installation, Startup, and Interface Tour 2.8.2: Main Menu Overview The CME 2 Main Menu choices are described below. Menu Selection Description For More Information File Save MACRO File (MACRO amplifiers only.) Saves amplifier setup and tuning parameters in a format that can be read by Delta Tau controllers. Save MACRO File for Delta Tau Controllers (p. 170). Save Amplifier Data Saves contents of amplifier RAM to a disk file. Data, Firmware, and Logs (p. 167). Save AsV4.
Installation, Startup, and Interface Tour CME 2 User Guide ...Main Menu Choices, continued: Menu Selection Description For More Information Tools Communications Wizard Starts sequence of prompts to set up communications. Configure Serial Port Parameters (p. 16) and Configure CAN Network Parameters (p. 18). Communications Log Opens Communications Log. Communications Log (p. 173). Download Firmware Starts prompts to download firmware from disk to amplifier.
CME 2 User Guide Installation, Startup, and Interface Tour 2.8.3: Functional Diagram The functional diagram, shown below, provides button-click access to most of the screens used to configure an amplifier. It also indicates the flow of control from input, across all active control loops, to motor/feedback. Only those control loop buttons that are appropriate to the amplifier and operational mode appear on the diagram. Name Description For More Information Input/ Output Opens Input/Output screen.
Installation, Startup, and Interface Tour CME 2 User Guide 2.8.4: CAN Information and Status Bar CAN Information The Main screen displays the basic CAN information. The example below shows CAN information: The Address field shows the amplifier’s present CAN address. For more information, see Network Configuration (p. 81).
CHAPTER 3: AMPLIFIER SETUP PROCEDURE Perform the steps listed below, in the order presented, to set up and tune an amplifier/motor pair. Details follow in the chapter. 1 Prepare for setup (p. 29). 2 Start CME 2 and enter Basic Setup parameters (p. 29). 3 Enter Motor/Feedback/Brake Stop parameters (p. 30). 4 Use Calculate to automatically set initial gains and limits (p. 30). 5 Configure digital I/O (p. 30). 6 Configure the command input (p. 30). 7 Configure faults (p. 31).
Amplifier Setup Procedure CME 2 User Guide 3.1: Warnings and Notes NOTE: To immediately software disable the amplifier at any time while running CME 2, press function key F12. Also, the amplifier’s enable input can be used to disable the amplifier. DANGER: Hazardous voltages. ! DANGER Exercise caution when installing and adjusting. Do not make connections to motor or drive with power applied. Risk of unexpected or uncontrolled motion with CME 2 in CAN mode.
CME 2 User Guide Amplifier Setup Procedure 3.2: Setup Procedure 1 Prepare for setup Understand this procedure’s Warnings and Notes (p. 28). Verify that amplifier power is OFF. Verify wiring and connections. Make sure motor is securely fastened with no load connected. Apply power to the amplifier. For off-line amplifiers apply 24V only. For DC amplifiers apply AUX HV only.
Amplifier Setup Procedure CME 2 User Guide ...Setup Procedure, continued: 3 Enter Motor/Feedback/Brake Stop parameters Click Motor/Feedback to open the Motor/Feedback screen. To optionally load data from an existing motor data file, see Load Motor/Feedback/Brake Settings from a File (p. 43) and then skip to Step 4, Use Calculate to automatically set initial gains and limits (p. 27). OR On the Motor tab, modify the appropriate Rotary Motor Setup Parameters (p.
CME 2 User Guide Amplifier Setup Procedure ...Setup Procedure, continued: 7 Configure faults Click Configure Faults to open the Fault Configuration screen and set latching faults as needed. See Faults (p. 87). Click OK to close the Fault Configuration screen. 8 Configure an optional regen resistor If the amplifier is equipped with a regen resistor, click Regen Settings to open the Regen Settings screen. See Regen Resistor Configuration (p. 213) for regen resistor parameters.
Amplifier Setup Procedure CME 2 User Guide ...Setup Procedure, continued: 13 Test with load attached On the CME 2 Main screen, click Save to Flash. Remove amplifier power. Attach load. Reconnect amplifier power. If necessary, re-tune velocity and position loops. On the CME 2 Main screen, click Save to Flash. On the CME 2 Main screen, click Save to Disk (for backup or duplication). The amplifier tuning procedure is complete.
CHAPTER 4: BASIC SETUP This chapter describes the Basic Setup screen. Perform the basic steps outlined below to access and enter the Basic Setup options. Details follow in the chapter. 1 Click to open the Basic Setup screen. 2 3 Review settings. 4 Choose: If necessary, click Change Settings to Change Basic Setup Settings (p. 34). OR If you have a .ccx file that was prepared for the amplifier/motor combination, click Load ccx File and see Copy Amplifier Data (p. 177).
Basic Setup CME 2 User Guide 4.1: Change Basic Setup Settings 1 On the Basic Setup screen, click Change Settings to start the Basic Setup wizard. Use the Back and Next buttons to navigate screens. Screen details vary depending on amplifier model and mode selection. 2 Set Motor Options (p. 35). 3 Set Feedback Options (p. 36).
CME 2 User Guide Basic Setup …Change Basic Setup Settings, continued: 4 Set Operating Mode Options (p.37). 5 Set Miscellaneous Options (p. 38). 6 When satisfied with the settings, click Finish on the final screen. 4.2: Motor Options View or change the settings described below. Options vary with amplifier model. Setting Description Motor Family Select motor family: Brushless or Brush. Motor Type Select motor type: Rotary or Linear.
Basic Setup CME 2 User Guide 4.3: Feedback Options View or change the settings described below. Options vary with amplifier model. Setting Description Hall Type Select Hall type: None, Digital, or Analog (Analog is used with Copley Controls ServoTube motors). Hall Phase Correction If selected, will enable error checking between Hall switches and encoder based phase angle. See Faults (p. 87). Motor Encoder Select type and source of motor feedback. None: No motor encoder.
CME 2 User Guide Basic Setup …Feedback Options, continued: Stepper Amplifiers Only Motor Encoder Select the encoder type: None Primary incremental Run in Servo Mode (With encoder only.) Amplifier operates as a true, closed loop, servo amplifier controlling a stepper motor. Enable Encoder Correction (With encoder only.) Amplifier runs as a stepper drive; encoder feedback is used to correct positional errors. See Encoder Correction (p. 142). For more information see Motor/Feedback (p. 41). 4.
Basic Setup CME 2 User Guide 4.5: Miscellaneous Options View or change the settings described below. Options vary with amplifier model. Setting Description Commutation Commutation method: Sinusoidal, Trapezoidal, or Estimated Sinusoidal. Use back EMF for Velocity If selected, will use the motor’s measured back EMF to determine motor velocity. Recommended only for medium- to high-speed.
CME 2 User Guide Basic Setup 4.6: ServoTube Setup The ServoTube Setup tool sets up the amplifier for use with the chosen ServoTube motor. After the user selects the motor series and model, CME 2 performs the following actions: Sets motor-specific values for all feedback options in the Basic Setup screen. Provides motor-specific values for all settings in the Motor/Feedback screens. Performs the Calculate function to set initial gains and limits.
Basic Setup CME 2 User Guide …Set Up a ServoTube Motor, continued: 40 4 Set Miscellaneous Options (p. 38). 5 When satisfied with the settings, click Finish. The control panel opens. 6 To test basic move capabilities, Run a move in jog mode (p. 151). 7 Test with load attached (p. 32).
CHAPTER 5: MOTOR/FEEDBACK This chapter describes motor, feedback, and brake parameters, and the Calculate function. Access these features as described below. Details follow in the chapter. 1 Click Motor/Feedback to open the Motor/Feedback screen. 2 Load Motor/Feedback/Brake Settings from a File (p. 43). OR 2 Enter settings manually: Click the Motor tab to view or change Rotary Motor Setup Parameters (p. 44) or Linear Motor Setup Parameters (p. 45 ).
Motor/Feedback CME 2 User Guide 5.1: Motor/Feedback Screen Overview A typical Motor/Feedback screen is shown below. Parameters vary with amplifier model. Choose default units for screen. Choose specific units for field. Motor Data Controls Calculate Function The Calculate function is described in The Calculate Function (p. 54). Data on the Motor/Feedback screen can be saved to and restored from disk files using the controls described below.
CME 2 User Guide Motor/Feedback 5.2: Load Motor/Feedback/Brake Settings from a File 1 If needed, download a motor data file from the Copley Controls website: 2 In an internet browser, navigate to http://www.copleycontrols.com/Motion/Downloads/motorData.html Click on the appropriate motor name. When prompted, save the file to the MotorData folder in the CME 2 installation folder. For default information see Default File Locations, p 10.
Motor/Feedback CME 2 User Guide 5.3: Rotary Motor Setup Parameters View or change the settings described below. Options vary with amplifier model. Metric units are shown here. Setting Description Manufacturer Motor manufacturer’s name. Saved for reference in the motor data file. Model Number Motor model number. Saved for reference in the motor data file. Units Selects whether the parameters entered in this screen are in Metric or English units. Motor Inertia The rotor inertia of the motor.
CME 2 User Guide Motor/Feedback 5.4: Linear Motor Setup Parameters View or change the settings described below. Options vary with amplifier model. Metric units are shown here. Setting Description Manufacturer Motor maker’s name. Saved in the motor data file. Choose from list or enter manually. Model Number Motor model number. Saved in the motor data file. Choose from list or enter manually. Units Selects whether the parameters entered in this screen are in Metric or English units.
Motor/Feedback CME 2 User Guide 5.5: Feedback Parameters, Rotary As appropriate for each encoder or resolver, enter the parameters described here. Options vary with amplifier model. Feedback Type Parameters/Actions Incremental In the Motor Encoder lines or Position Encoder lines field, enter the number of encoder lines (see encoder or motor data sheet). As indicated by the counts field, the number of encoder counts per revolution is equal to 4 x the number of lines.
CME 2 User Guide Motor/Feedback SSI In the counts per rev text field, enter the number of counts per revolution, (see data sheet). In the Number of Encoder Bits text field enter the number of encoder bits, (see data sheet). Choose Binary or Gray. BiSS In the Bits text field specify the number of bits used for single turn Resolution (see encoder data sheet). In the Number of Revolutions text field specify the number of turns (see encoder data sheet).
Motor/Feedback Absolute A CME 2 User Guide In the Bits text field specify the number of bits used for single turn resolution (see encoder data sheet). In the Number of Revolutions text field specify the number of turns (see encoder data sheet). Optionally, enter a number of counts per rev bits to ingnore in the specified box. Choose bit rate.
CME 2 User Guide EnDat Motor/Feedback In the Bits text field specify the number of bits used for single turn resolution (see encoder data sheet). In the Number of Revolutions text field specify the number of turns (see encoder data sheet). Optionally, check Enable Incremental 1Vpp sin/cos. If your encoder has an analog output, select Enable Incremental. Select line count, interpolation number and interpolated counts.
Motor/Feedback CME 2 User Guide 5.6: Feedback Parameters, Linear As appropriate for each encoder installed, enter the parameters described below. Options vary with amplifier model. 50 Feedback Type Parameters/Actions Incremental Choose units and then enter the Encoder Resolution (see encoder or motor data sheet). Enable Encoder Loss Detection and/or Index Loss detection if desired. Analog Enter the Fundamental Pitch (distance between encoder lines; see encoder or motor data sheet).
CME 2 User Guide Motor/Feedback SSI Choose units and then enter the Encoder Resolution (see encoder or motor data sheet). In the Number of Encoder Bits text field enter the number of encoder bits, (see data sheet). Choose Binary or Gray. BISS Choose units and then enter the Encoder Resolution (see encoder or motor data sheet). In the Bits text field specify the number of bits used for single turn Resolution (see encoder data sheet). Select code format BiSS B or BiSS C.
Motor/Feedback CME 2 User Guide 5.7: Feedback Notes 5.7.1: Encoder and Resolver Support Some Copley Controls amplifiers are offered in multiple versions to support different types of encoder or resolver feedback. Some encoder versions support digital quadrature encoders, some support analog sin/cos encoders, and others support both. Encoder versions normally require Hall switches for the commutation of brushless motors. The resolver versions support standard, single speed, transmit-type resolvers. 5.7.
CME 2 User Guide Motor/Feedback 5.8: Brake/Stop Parameters Enter the following parameters as appropriate. Parameter Description Brake/Stop Delay Time Range of accepted values: 0 to 10,000 mSec Brake Activation Velocity Range of accepted values: 0 to encoder resolution dependent limit rpm (mm/s for linear motor) PWM Delay Brake/Stop Response Time Range of accepted values: 0 to 10,000 mSec 5.9: Brake/Stop Notes Many control systems employ a brake to hold the axis when the amplifier is disabled.
Motor/Feedback CME 2 User Guide 5.10: The Calculate Function The Calculate function uses programmed motor and encoder values to calculate initial gains and limits. These can be modified to fine-tune the amplifier. Follow the steps below: 1 2 Click Calculate to calculate and display the settings. Verify the peak current limit, continuous current limit, and velocity loop velocity limit.
CHAPTER 6: DIGITAL INPUTS AND OUTPUTS This chapter shows how to configure the amplifier’s digital inputs and outputs. Perform the steps outlined below. Details follow in the chapter. 1 Click Input/Output to open the Input/Output screen. 2 As needed, set Digital Inputs (p. 56). 3 As needed set Digital Outputs (p 59). 4 Click Close to close screen and save changes to amplifier RAM. 5 On the Main screen, click Save to Flash to avoid losing the changes.
Digital Inputs and Outputs CME 2 User Guide 6.1: Digital Inputs 6.1.1: Digital Inputs Screen Overview A typical Input/Output screen is shown below. Features vary with amplifier model and configuration. Red light: inhibited motion or active input depending on input function. Grey light: motion not inhibited. No light: not configured. Lo/Hi: indicated state of input. Hold position setting. Indicates input is used as a CAN address bit.
CME 2 User Guide Digital Inputs and Outputs 6.1.2: Digital Input Functions The programmable digital input functions are described below. Input Function Description AMP EnableLO Enables with clear faults A low input will enable the amplifier. Any transition will clear latched faults and outputs. AMP EnableHI Enables with clear faults A High input will enable the amplifier. Any transition will clear latched faults and outputs. AMP EnableLO Enables with reset A low input will enable the amplifier.
Digital Inputs and Outputs CME 2 User Guide 6.1.3: Standard Input Function Assignments Enable Input: On some Copley Controls amplifiers, IN1 is dedicated to the enable function. Other inputs can be programmed as additional enables. If there is more than one input programmed as an enable then all the inputs must be in the enabled state before the amplifier PWM output stage will be enabled.
CME 2 User Guide Digital Inputs and Outputs 6.2: Digital Outputs 6.2.1: Screen Overview A typical Digital Outputs screen is shown below. Options vary with amplifier. Red light: inhibited motion or active input, depending on input function. Grey light: motion not inhibited. No light: not configured. Lo/Hi or On/Off indicates state of input. Parameter Description Configure Custom Opens screen to display custom digital output settings. Available only when function is set to Custom.
Digital Inputs and Outputs CME 2 User Guide 6.2.2: Digital Output Functions Copley drives can have either opto-isolated or non opto-isolated digital outputs, or both. Opto-isolated digital output states are said to be On or Off. All others are said to be Hi or Low. The output functions are described below. 60 Output Function Description Not Configured No function. Output remains Hi/Off. Fault Active Hi/Off Output goes Hi/Off when one or more faults are detected. See Faults (p. 87).
CME 2 User Guide Digital Inputs and Outputs 6.2.3: Custom Digital Output Settings: Custom Event Any of the amplifier’s digital outputs can be programmed to respond to a combination of events including faults, warnings, and status indications. The output goes active when one or more of the selected events take place. Configure a Custom Event output 1 Choose Custom Event for an output and then click Configure Custom to open the Event Configuration screen. 2 Select one or more Custom Event Functions (p.
Digital Inputs and Outputs CME 2 User Guide Custom Event Functions Select any combination of events to configure a custom event output: Event Description Amplifier Fault A latched fault is active. Amp Over Temperature For descriptions of these fault events, see Fault Configuration Parameters (p 88).
CME 2 User Guide Digital Inputs and Outputs Non-Latched vs. Latched Custom Event Digital Outputs Like an amplifier fault, a custom-configured output can be non-latched or latched. If a non-latched, custom-configured digital output goes active, it goes inactive as soon as the last of the selected events is cleared.
Digital Inputs and Outputs CME 2 User Guide 6.2.4: Custom Digital Output Settings: Custom Trajectory Status Any of the amplifier’s digital outputs can be programmed to respond to a combination of amplifier trajectory status conditions. The output goes active when one or more of the conditions is met. Configure a Custom Trajectory Status output 1 Choose Custom Trajectory Status for an output and then click Configure Custom to open the Trajectory Status Configuration screen.
CME 2 User Guide Digital Inputs and Outputs 6.2.5: Custom Output Settings: Position Triggered Output Any of the amplifier’s digital outputs can be programmed to respond in certain ways to the position of the controlled axis. The output goes active when the axis position meets the specified criteria. Configure a Position Triggered output 1 Choose Custom Position Triggered Output for an output and then click Configure Custom to open the In Position Configuration screen.
Digital Inputs and Outputs CME 2 User Guide 6.3: Synchronizing PWM Switching Frequency In some situations, such as when sampling small analog signals, it is desirable to synchronize the PWM switching frequency among multiple amplifiers. In these cases, one amplifier serves as a master for one or more slave amplifiers. The PWM sync output of the master sends a signal that is received as a PWM sync input by each slave. 6.4: Analog I/O A typical Analog I/O screen is shown below. Options vary with amplifier.
CME 2 User Guide Digital Inputs and Outputs 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.
Digital Inputs and Outputs 68 CME 2 User Guide Copley Controls
CHAPTER 7: COMMAND INPUTS This chapter shows how to configure the amplifier’s command inputs. Perform the basic steps outlined below. Details follow in the chapter. 1 or or or or or or Click to open the loop command input settings screen. 2 Change/verify command input parameters as described in the following sections: 3 Analog Command Settings (p. 70) PWM Input Settings (p. 73) Digital Position Input Settings (p. 76) or Network Configuration (p.
Command Inputs CME 2 User Guide 7.1: Analog Command Settings View or change the settings described below. Parameter Description Scaling Current mode: output current produced by +10 Vdc of input. Range: 0 to 10,000,000 A. Default: Peak Current value. Velocity mode: output velocity produced by +10 Vdc of input. Range: 0 to 100,000 rpm (mm/sec). Default: Maximum Velocity value. Position mode: position change (counts or mm) produced by +10 Vdc of input. Range: 0 to 1,000,000,000 counts.
CME 2 User Guide Command Inputs 7.1.1: Analog Command Notes The amplifier can be driven by an analog voltage signal through the analog command input. The amplifier converts the signal to a current, velocity, or position command as appropriate for current, velocity, or position mode operation, respectively. The analog input signal is conditioned by the scaling, dead band, and offset settings. Scaling The magnitude of the command generated by an input signal is proportional to the input signal voltage.
Command Inputs CME 2 User Guide Offset To remove the effects of voltage offsets between the controller and the amplifier in open loop systems, CME 2 provides an Offset parameter and a Measure function. The Measure function takes 10 readings of the analog input voltage over a period of approximately 200 ms, averages the readings, and then displays the results. The Offset parameter allows the user to enter a corrective offset to be applied to the input voltage.
CME 2 User Guide Command Inputs 7.2: PWM Input Settings View or change the settings described below. Parameter Description Scaling Current mode: output current at 100% duty cycle. Range: 0 to 10,000,000 A. Default: Peak Current value. Velocity mode: output velocity at 100% duty cycle. Range: 0 to 100,000 rpm (mm/sec). Default: Maximum Velocity value. PWM Input Type One wire 50% or two wire 100% with direction. Options Invert PWM input: Inverts the PWM logic.
Command Inputs CME 2 User Guide 7.2.1: PWM Input Notes Two Formats The amplifier can accept a pulse width modulated (PWM) signal to provide a current command in current mode and a velocity command in velocity mode. The PWM input can be programmed for two formats: 50% duty cycle (one-wire) and 100% duty cycle (twowire). 50% Duty Cycle Format (One-Wire) The input takes a PWM waveform of fixed frequency and variable duty cycle. As shown below, a 50% duty cycle produces zero output from the amplifier.
CME 2 User Guide Command Inputs 100% Duty Cycle Format (Two-Wire) One input takes a PWM waveform of fixed frequency and variable duty cycle, and the other input takes a DC level that controls the polarity of the output. A 0% duty cycle creates a zero command, and a 100% duty cycle creates a maximum command level. The command can be inverted so that increasing the duty cycle decreases the output and vice versa.
Command Inputs CME 2 User Guide 7.3: Digital Position Input Settings View or change the settings described below. Parameter Description Control Input Pulse and Direction: One input takes a series of pulses as motion step commands, and another input takes a high or low signal as a direction command. Pulse Up / Pulse Down: One input takes each pulse as a positive step command, and another takes each pulse as a negative step command.
CME 2 User Guide Command Inputs Pulse and Direction Format In pulse and direction format, one input takes a series of pulses as motion step commands, and another input takes a high or low signal as a direction command, as shown below. Pulse Input Direction Input Velocity Command The amplifier can be set to increment position on the rising or falling edge of the signal. Stepping resolution can be programmed for electronic gearing.
Command Inputs CME 2 User Guide Count Up/Count Down Format In the count up/count down format, one input takes each pulse as a positive step command, and another takes each pulse as a negative step command, as shown below. Up Input Down Input Velocity Command The amplifier can be set to increment position on the rising or falling edge of the signal. Stepping resolution can be programmed for electronic gearing.
CME 2 User Guide Command Inputs 7.4.1: Programmed Position View or change the settings described below. Setting Description Move Relative or Absolute. Type Trap or S-Curve. Distance Move distance. 7.4.2: Programmed Velocity View or change the setting described below. Setting Description Programmed Velocity Move velocity. Units: rpm (rotary) or mm/s (linear). 7.4.3: Programmed Current View or change the settings described below.
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CHAPTER 8: NETWORK CONFIGURATION This chapter shows how to configure CAN, MACRO or EtherCAT networks. 8.1: CAN Network ........................................................................................................................................................................ 82 8.2: MACRO Network .................................................................................................................................................................. 83 8.3: EtherCAT Network ..............
Network Configuration CME 2 User Guide 8.1: CAN Network A CANopen network can support up to 127 nodes. Each node must have a unique and valid seven-bit address (Node ID) in the range of 1-127. (Address 0 should only be used when the amplifier is serving as a CME 2 serial port multi-drop gateway.) Configure a CAN interface 1 2 Click CAN Configuration to open the CAN Configuration screen. (If CAN is not the Position Loop Input, choose AmplifierNetwork Configuration instead.
CME 2 User Guide Network Configuration 8.2: MACRO Network A Delta Tau PMAC card can hold up to four MACRO IC’s, each of which is a master on a MACRO ring. Each master IC can address 16 stations (nodes, slaves), enabling the addressing of up to 64 devices on a ring. Of these, 32 can be motion devices such as Xenus XML. A node address is an 8-bit value with bits 7-4 addressing the master IC and bits 3-0 addressing the slave. XML switch S1 is set to select the master IC to which the Xenus will be linked.
CME 2 User Guide Network Configuration …MACRO Network, continued: 3 Verify the following parameters. Parameter Description Scaling Input Command Current mode: output current produced by +10 Vdc of input. Range: 0 to 10,000,000 A. Default: Peak Current value. Heart Beat Time Out Home Status Bit Velocity mode: output velocity produced by +10 Vdc of input. Range: 0 to 100,000 rpm (mm/sec). Default: Maximum Velocity value. The frequency at which the drive will produce heartbeat messages.
CME 2 User Guide Network Configuration 8.3: EtherCAT Network An EtherCAT network enables high-speed control of multiple axes while maintaining tight synchronization of clocks in the nodes. Data protocol is CANopen over EtherCAT (CoE) based on DSP-402 for motion control devices. Stations on EtherCAT are automatically addressed by their bus location. The first drive on the network is station address -1. The second is -2, and so on.
Network Configuration 86 CME 2 User Guide Copley Controls
CHAPTER 9: FAULTS This chapter shows how to configure the amplifier’s fault latching. Perform the basic steps outlined below. Details follow in the chapter: 1 Click Configure Faults to open Faults Configuration screen. 2 Select the faults to latch. See Fault Configuration Parameters (p. 88). 3 Click OK to close screen and save changes to amplifier RAM. 4 On the Main screen, click Save to Flash to avoid losing the changes. Risk of unexpected motion with non-latched faults.
Faults CME 2 User Guide 9.1: Fault Configuration Parameters Each of the following faults can be latched by selecting it on the Fault Configuration screen. For more information on latching, see Fault Latching Notes (p. 89). For details on limits and ranges, see the amplifier documentation. Note: The list of faults may vary with amplifier model. Fault Description Fault Occurs When… Fault is Corrected When… *Amp Over Temperature Amplifier's internal temperature exceeds specified temperature.
CME 2 User Guide Faults 9.2: Fault Latching Notes 9.2.1: Clearing Non-Latched Faults The amplifier clears a non-latched fault, without operator intervention, as soon as the fault condition is corrected. Risk of unexpected motion with non-latched faults. ! DANGER After the cause of a non-latched fault is corrected, the amplifier re-enables the PWM output stage without operator intervention. In this case, motion may re-start unexpectedly.
Faults CME 2 User Guide 9.3: Position and Velocity Error Notes 9.3.1: Error-Handling Methods In position mode, any difference between the limited position output of the trajectory generator and the actual motor position is a position error. The amplifier’s position loop uses complementary methods for handling position errors: following error fault, following error warning, and a position-tracking window. To set position error handling parameters for servo amplifiers, see Enter Basic Position Loop (p.
CME 2 User Guide Faults 9.3.5: Following Error Fault Details Position Error Reaches Fault Level As described earlier, position error is the difference between the limited position output of the trajectory generator and the actual position. When position error reaches the programmed Following Error Fault level, the amplifier faults (unless the following error fault is disabled.) As with a warning, a status bit is set. In addition, the fault is recorded in the error log. See Error Log (p. 172).
Faults CME 2 User Guide 9.3.6: Tracking Window Details Proper Tracking Over Time As described earlier, position error is the difference between the limited position output of the trajectory generator and the actual position. Velocity error is the difference between commanded and actual velocity. When the position or velocity error exceeds the programmed tracking window value, a status word bit is set. The bit is not reset until the error remains within the tracking window for the programmed tracking time.
CHAPTER 10: MOTOR PHASING This chapter shows how to phase the motor using the Auto Phase or Manual Phase tool. Perform the basic steps outlined below. Details follow in the chapter. Use the procedure described in this chapter to Phase Motor with Auto Phase (p. 94). OR Use the procedure described in this chapter to Phase Motor Manually (p. 104).
Motor Phasing CME 2 User Guide 10.1: Phase Motor with Auto Phase Choose the appropriate procedure: Auto Phase Example: Servo Amplifier (p. 94) Auto Phase Example: Stepper Amplifier, No Encoder (p. 98) Auto Phase Example: Stepper Amplifier with Encoder, in Stepper Mode (p. 99) Auto Phase Example: Stepper Amplifier with Encoder, in Servo Mode (p. 100) NOTE: The examples in this chapter show particular amplifier operating modes and motor feedback configurations.
CME 2 User Guide Motor Phasing …Auto Phase Example, continued: 5 Activate the Enable Input. 6 Click Start to begin the motor wiring setup. The message area displays messages: Configuring Initial Settings, Microstepping, Test Complete, Motor Wiring has been configured. During microstepping, a current vector is applied to the motor windings and microstepped through an electrical cycle at a set rate, causing the motor to move.
Motor Phasing CME 2 User Guide …Auto Phase Example, continued: 9 10 When you are ready to observe motion, click OK. See the prompt: If motor did not turn 1 full turn, click No and see Phase count test problems (p. 103). If motor turned 1 full turn, click Yes. The message area displays progress and completion messages. 11 For a resolver (–R) version of a Copley Controls amplifier, skip to Step 13 (p. 97). For a non-resolver amplifier, click Next to open the Hall Wiring Setup screen.
CME 2 User Guide Motor Phasing …Auto Phase Example, continued: 13 For a resolver (-R) version of a Copley Controls amplifier, click Next to open the Resolver Phase Angle Setup screen. 14 Click Start to start the resolver phase angle setup. The message area displays status messages. 15 Click Finish to close the screen and save values to flash memory OR to close the screen without saving changes, click Cancel.
Motor Phasing CME 2 User Guide 10.1.2: Auto Phase Example: Stepper Amplifier, No Encoder 1 2 98 Verify that the Enable Input is not activated and that HV power is applied. Click Auto Phase to open the Auto Phase Motor Direction Setup screen. 3 Hold down Move POS to move the motor in the direction considered positive, and observe the direction of movement. If the motor does not move see Motor wiring setup problems (p. 103).
CME 2 User Guide Motor Phasing 10.1.3: Auto Phase Example: Stepper Amplifier with Encoder, in Stepper Mode 1 2 Verify that the Enable Input is not activated and that HV power is applied. Click Auto Phase to open the Auto Phase Motor Direction Setup screen. 3 Move the motor in the direction you wish to be considered positive. 4 Activate the Enable Input. 5 Click Next to open the Auto Phase Motor Wiring Setup screen. 6 Click Start to begin motor wiring setup with default values.
Motor Phasing CME 2 User Guide 10.1.4: Auto Phase Example: Stepper Amplifier with Encoder, in Servo Mode 1 2 Verify that the Enable Input is not activated and that HV power is applied. Click Auto Phase to open the Auto Phase Motor Direction Setup screen. 3 Move the motor in the direction you wish to be considered positive. 4 Activate the Enable Input. 5 Click Next to open the Auto Phase Motor Wiring Setup screen.
CME 2 User Guide Motor Phasing …Auto Phase Example, continued: 6 Click Start to begin the motor wiring setup. The message area displays messages: Configuring Initial Settings, Microstepping, Test Complete, Motor Wiring has been configured. During microstepping, a current vector is applied to the motor windings and microstepped through an electrical cycle at a set rate, causing the motor to move.
Motor Phasing CME 2 User Guide …Auto Phase Example, continued: 9 When you are ready to observe motion, click OK. See the prompt: 10 Click Next to open the Auto Phase Motor Phase Initialize screen: 11 Click Initialize Phase to start phase initialization. If successful, this message appears: “Test Complete. Phasing has been initialized.” 12 Click Finish to close the screen and save values to flash memory. 13 After clicking Finish, the following message appears if changes were made: 14 Click OK.
CME 2 User Guide Motor Phasing 10.2: Guidelines for Choosing Auto Phase Current and Increment Rate Values Here are some considerations in choosing Auto Phase Current and Increment Rate values: If friction is high, more current may be required to move the load. High static friction may require more current to overcome stiction. Transition from static friction to dynamic friction, and back, may produce jerky motion. A faster rate will operate in the dynamic friction range.
Motor Phasing CME 2 User Guide 10.4: Phase Motor Manually The CME 2 Manual Phase tool lets the user phase a brushless motor, monitor signals, check configuration wiring, and control a microstepping current vector. 10.4.1: Manual Phase Example: Motor with Encoder 1 Make sure that no load is attached to the motor. 2 On the Main screen, choose ToolsManual Phase to open the window: 3 Verify the Current setting and then enable the amp by selecting Enable in the Control area of the Manual Phase window.
CME 2 User Guide Motor Phasing ...Manual Phase Example: Motor with Encoder, continued: 7 Verify actual position count agrees with direction of rotation: increasing counts in forward direction and decreasing counts in reverse direction. If it does not, toggle the Motor Feedback Invert Input box setting. 8 If the motor has no Halls, skip to Phase Initialization Steps for Motor without Halls (p. 106).
Motor Phasing CME 2 User Guide Phase Initialization Steps for Motor without Halls The Phase Initialization function is designed to phase a motor with no Halls. Halls are strongly recommended for safe, redundant system. ! DANGER Copley strongly recommends the use of Halls or a commutating encoder for commutation to provide a safe, redundant system. If the application requires otherwise, the customer accepts responsibility for verifying system performance and reliability.
CME 2 User Guide Motor Phasing 10.4.2: Manual Phase Example: Motor with Resolver 1 Make sure that no load is connected to the motor. 2 On the Main screen, choose ToolsManual Phase to open the window: 3 Verify the Current setting and then enable the amp by selecting Enable in the Control area of the Manual Phase window. 4 To control the current vector rotation, command the motor forward or reverse. NOTE: Some motors have bearings stiction, so helping the motor with mechanical force is acceptable.
Motor Phasing CME 2 User Guide …Manual Phase Example: Motor with Resolver, continued: 8 Adjust Resolver Offset configuration as required, testing Fwd and Rev, to produce alignment of Motor Phase Angle with Resolver Angle as shown here. Note: Motor manufacturers typically align the resolver in 30 degree increments, typically by applying current through a pair of motor power wires.
CME 2 User Guide Motor Phasing 10.5: Troubleshoot Manual Phase w/ Encoder and Halls To perform trapezoidal commutation after power-up or reset, the amplifier must receive good Hall signals. After the first Hall transition is detected, then sinusoidal commutation can be performed. In sinusoidal commutation, the amplifier uses the encoder for commutation while monitoring the Halls to verify proper phase.
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CHAPTER 11: CONTROL LOOPS This chapter shows how to program and tune the control loops. Perform the basic steps outlined below. Details follow in the chapter. For each control loop: 1 or 2 Click the appropriate button to open the loop control screen. Change/verify settings as needed. 3 4 or Click Close to close screen and save changes to amplifier RAM. Click to open the Scope tool. 5 Run a function or profile and adjust settings to tune the loop.
Control Loops CME 2 User Guide 11.1: Current Loop Setup and Tuning Initial current loop proportional gain (Cp) and current loop integral gain (Ci) values can be calculated with The Calculate Function (p. 54). Enter basic Current Loop settings 1 2 Click I Loop to open the Current Loop screen: Change/verify Current Loop parameters as needed. Parameter Description Peak Current Limit Used to limit the peak phase current to the motor.
CME 2 User Guide Control Loops Manually tune the Current Loop METHOD: Apply square-wave excitation to the current loop and adjust current loop proportional gain (Cp) and current loop integral gain (Ci) to obtain a desired waveform. For instance: NOTES: 1) During tuning, observe any warnings that appear to the left of the trace. 2) Some users prefer the Auto Tune feature. See Current Loop Auto Tune (p. 115). 1 Click the Scope Tool. 2 Choose Current from the Function Generator Apply To: list.
Control Loops CME 2 User Guide …Manually Tune the Current Loop, continued: 5 Click Start. 6 On the Gains tab, adjust current loop proportional gain (Cp): 7 8 9 114 Set current loop integral gain (Ci) to zero. Raise or lower Cp to obtain desired step response. (Typically, little or no overshoot with a 100 Hz, low-current square wave.) If the Cp value is too large, ringing may occur. If the Cp value is too low, bandwidth decreases.
CME 2 User Guide Control Loops 11.2: Current Loop Auto Tune Tune the Current Loop with Auto Tune METHOD: The current loop Auto Tune algorithm applies a square-wave command to the current loop and adjusts current loop proportional gain (Cp) and current loop integral gain (Ci) until a desirable waveform is obtained. Initial current loop proportional gain (Cp) and current loop integral gain (Ci) values can be calculated with The Calculate Function (p. 54).
Control Loops CME 2 User Guide ...Tune the Current Loop with Auto Tune, continued: 5 Observe the Auto Tune process and results. A typical example: Sets Cp and Ci to zero and then adjusts Cp and Ci for optimal values. Uses a frequency sweep to determine the small signal, current loop bandwidth. Displays the results: a set of Cp and Ci alternatives, and the bandwidth measured using the high Cp and Ci values.
CME 2 User Guide Control Loops ...Tune the Current Loop with Auto Tune, continued: 6 Choose an action based on Auto Tune results. 7 Choose which set of values to save: High, Medium, Low, or Original. The Medium values, selected by default, are appropriate for most applications. Optionally choose how to save: Save Cp and Ci to Flash or Keep Cp and Ci in amplifier RAM only. Click OK to save the values as chosen, and close the Auto Tune Results window.
Control Loops CME 2 User Guide 11.3: Notes on the Current Mode and Current Loop 11.3.1: Current Loop Diagram As shown below, the “front end” of the current loop is a limiting stage. The limiting stage accepts a current command, applies limits, and passes a limited current command to the summing junction. The summing junction takes the commanded current, subtracts the actual current (represented by the feedback signal), and produces an error signal.
CME 2 User Guide Control Loops 11.3.5: Current Loop Gains The current loop uses these gains: Gain Description Cp - Current loop proportional The current error (the difference between the actual and the limited commanded current) is multiplied by this value. The primary effect of this gain is to increase bandwidth (or decrease the step-response time) as the gain is increased. Ci - Current loop integral The integral of the current error is multiplied by this value.
Control Loops CME 2 User Guide 11.4: Velocity Loop Setup and Tuning Initial velocity loop proportional gain (Vp) and velocity loop integral gain (Vi) values can be calculated with The Calculate Function (p. 54). Enter basic Velocity Loop settings 1 Click V Loop (screen contents vary with model and configuration): Note: For Plus products the output and command filter are accessed through the filter screen. 2 Change/verify Velocity Loop parameters as needed.
CME 2 User Guide Control Loops Manually Tune the Velocity Loop METHOD: Apply square-wave excitation to velocity loop and adjust proportional gain (Vp) and integral gain (Vi) to obtain desired waveform. For instance: NOTE: During tuning, observe any warnings that appear to the left of the trace. 1 Click the Scope Tool. 2 Choose Velocity from the Function Generator Apply To: list. 3 On the Settings tab, make sure Auto Setup is selected.
Control Loops CME 2 User Guide 11.5: Notes on the Velocity Mode and Velocity Loop 11.5.1: Velocity Loop Diagram As shown below, the velocity loop limiting stage accepts a velocity command, applies limits, and passes a limited velocity command to the input filter. The filter then passes a velocity command to the summing junction. The summing junction subtracts the actual velocity, represented by the feedback signal, and produces an error signal.
CME 2 User Guide Control Loops 11.5.4: Diagram: Effects of Limits on Velocity Command The following diagram illustrates the effects of the velocity loop limits. Limited Velocity Commanded Velocity Vel Limit Accel Limit Decel Limit 11.5.5: Velocity Loop Gains The velocity loop uses these gains: Gain Description Vp Velocity loop proportional The velocity error (the difference between the actual and the limited commanded velocity) is multiplied by this gain.
Control Loops CME 2 User Guide 11.6: Position Loop Setup and Tuning Initial position loop proportional gain (Pp), velocity feed forward (Vff), and acceleration feed forward (Aff) values can be calculated with The Calculate Function (p. 54). Enter Basic Position Loop Settings 1 2 Click P Loop to open the Position Loop Values screen: Change/verify Position Loop Values as needed. Click Close when done. Gain Description Aff Acceleration feed forward. Range: 0 to 32,767. See Trajectory Limits (p. 131).
CME 2 User Guide Control Loops …Enter basic Position Loop settings, continued: 3 Optionally click Position Wrap to open the Position Wrap screen: 4 Change/verify the position wrap parameters as needed. Set both values to zero to disable position wrapping. Note that the changes do not take effect until OK is pressed. For more information about this feature, see Position Wrap (p. 132). 5 Parameter Description Motor Position Wrap Position at which the actual motor position count returns to zero.
Control Loops CME 2 User Guide …Enter basic Position Loop settings, continued: 6 Change/verify the trajectory values as needed: Parameter Description Max Velocity Maximum trajectory velocity. Max value may depend upon the back EMF and the Max feedback count. Min:0. Default: 0.25 x motor velocity limit. Max Accel Maximum trajectory acceleration. Max value may depend upon the load inertia and peak current. Min:0. Default: 0.5 x velocity loop Accel. Limit value.
CME 2 User Guide Control Loops Manually Tune the Position Loop METHOD: Minimize following error and oscillation by running profiles and adjusting position proportional gain (Pp), velocity feed forward (Vff), acceleration feed forward (Aff) and other settings. For instance: NOTE: During tuning, observe warnings that appear to the left of the trace. 1 Click the Scope Tool. 2 Select the Profile tab. 3 On the Settings tab, make sure Auto Setup is selected.
Control Loops CME 2 User Guide …Manually Tune the Position Loop, continued: 6 and Set up a trapezoidal profile by setting the trajectory limits and distance. See table: Trajectory Limits Tab Parameter Description Maximum Velocity Maximum Acceleration Set values typical of those expected to be used in the application. Maximum Deceleration Profile Tab Distance Set the move distance to produce a complete trajectory profile. Be sure that this distance does not exceed mechanical limits of the system.
CME 2 User Guide Control Loops … Manually Tune the Position Loop, Continued: 9 Adjust acceleration feed forward (Aff): Acceleration feed forward (Aff) reduces following error during profile acceleration and deceleration. Click in the Aff field and adjust the value. Click Start after each adjustment to test on a new profile move.
Control Loops CME 2 User Guide Test S-Curve Profile DISCUSSION: If the amplifier will perform S-Curve profile moves, use this procedure to tune the level of jerk. (Jerk is the rate of change of acceleration. S-Curve moves reduce jerk to provide a smooth profile.) Run an S-Curve profile and adjust velocity, acceleration, deceleration, and jerk levels until the desired profile is obtained. For instance: 1 On the Profile tab, click the S-Curve button.
CME 2 User Guide Control Loops 11.7: Notes on the Position Mode and Position Loop 11.7.1: Position Loop Diagram The amplifier receives position commands from the digital or analog command inputs, over the CAN interface or serial bus, or from the CVM Control Program. When using digital or analog inputs, the amplifier's internal trajectory generator calculates a trapezoidal motion profile based on trajectory limit parameters.
Control Loops CME 2 User Guide 11.7.4: Position Loop Gains The following gains are used by the position loop to calculate the velocity command: Gain Description Pp Position loop proportional The loop calculates the position error as the difference between the actual and limited position values. This error in turn is multiplied by the proportional gain value. The primary effect of this gain is to reduce the following error.
CME 2 User Guide Control Loops 11.8: Auto Tune all Loops for Linear Motors The Auto Tune all loops feature is available for use with linear motors. ! Make sure motor is mounted firmly and verify accuracy and completeness of motor data. Failure to heed this warning can cause equipment damage, injury, or death. DANGER Tune All Loops with Auto Tune (Linear Motors) At any point, use Back to return to the previous screen.
Control Loops CME 2 User Guide … Auto Tune all Loops for Linear Motors, continued: 5 Click Start to tune the current loop. During tuning, the status indicator is amber. Cp and Ci values change as the text in the status box gives progress updates. When the current loop has been tuned, the status indicator turns green, and the status box contains instructions for the next step. Velocity Loop: 6 Click Next to open the Jog screen. 7 Move the motor to the center of its motion range.
CME 2 User Guide Control Loops … Auto Tune all Loops for Linear Motors, continued: 8 When the motor is centered, click Next. If the amplifier must apply current to hold the new position against a force (such as gravity in a vertical application), the following message appears: If this message appears, click OK. The Velocity Loop Tune screen opens: 9 Optionally adjust the Target Bandwidth. TIP: Increase bandwidth for more stiffness in the holding position.
Control Loops CME 2 User Guide … Auto Tune all Loops for Linear Motors, continued: 10 Click Start to tune the velocity loop. During tuning, the status indicator is amber. Vp and Vi values change as the text in the status box gives progress updates.
CME 2 User Guide Control Loops … Auto Tune all Loops for Linear Motors, continued: 12 Verify the Move Type setting (S-Curve or Trap). 13 For a trapezoidal profile, optionally optimize the tuning along the scale between Best Settling (for quicker settling) and Best Following (for less following error). 14 Click Start to tune the position loop. During tuning, the status indicator is amber. Pp, Vff, and Aff values change as the text in the status box gives progress updates.
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CHAPTER 12: STEPPER CONTROLS This chapter describes set up and tuning steps that are particular to stepper amplifiers. The basic operations are listed below. Details follow in the chapter. Set Position Limits in Stepper Mode (p. 140). Encoder Correction (p. 142). Tune Stepper Detent Gain (p. 143).
Stepper Controls CME 2 User Guide 12.1: Stepper Motor Support CME 2 supports Copley’s stepper amplifier family. Stepper amplifiers can run in stepper mode or servo mode. This chapter describes controls that can be used to fine-tune a stepper amplifier in stepper mode: Encoder Correction (p. 142) and Detent Compensation Gain (p. 142). It also describes the screen used in stepper mode to set Position Limits (p. 140).
CME 2 User Guide Stepper Controls 3 Click the Position Loop Values tab: 4 Change/verify the values as needed: Limit Description Following Error Fault The level (in encoder counts) at which the following error produces a fault, which stops the servo loop. We recommend raising the fault level before tuning the loop. See Following Error Fault Details (p. 91). Warning The level (in counts) at which the following error produces a warning (without stopping the loop).
Stepper Controls CME 2 User Guide 12.3: Encoder Correction For a stepper motor with an encoder, encoder correction may be used to compensate for lost microsteps. Normally, in an open loop micro stepping mode with an encoder, the total number of micro steps per revolution is set to the number of encoder counts per revolution. However, a following error can accumulate when micro steps are lost.
CME 2 User Guide Stepper Controls Detent Compensation Gain Stepper motors are subject to torque detent that can cause undesired velocity fluctuation between full steps of motion. The Detent gain feature can compensate for this detent. Tune Stepper Detent Gain 1 Click Detent to open the stepper amplifier Advanced Tuning screen. Screen settings and controls are described below: Setting Description Velocity Tuning velocity. Default: 0. Trace Time Length of trace interval to be shown on screen.
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CHAPTER 13: HOMING Set homing parameters and run optional homing tests. Perform the steps outlined below. 1 2 On Main screen, click Home to open the Homing screen. Select the following homing parameters: Parameter Description Software limits: Positive Software limits: Negative Position of user-defined travel limits that take effect after homing operation. Software limits: Deceleration Rate Software limits: Disable Deceleration rate used to stop a motor when approaching a software limit.
Homing CME 2 User Guide …Homing Parameters, continued: Slow Velocity Accel/Decel Offset The velocity used to find a switch edge, incremental or analog encoder index pulse, or hard stop. The acceleration and deceleration rate used during homing. Current Delay Time Execute a move of this distance after the reference is found. Set actual position to 0 and call the new position home.
CHAPTER 14: CONTROL PANEL Become familiar with the CME 2 Control Panel and its functions. Perform the steps outlined below to access the panel and its functions. Details follow in chapter. 1 2 Click to open the Control Panel: See this chapter for a Control Panel Overview (p. 148) and details on: Status Indicators and Messages (p. 148) Control Panel Monitor Channels (p. 149) Control Functions (p. 150) Jog Mode (p.
Control Panel CME 2 User Guide 14.1: Control Panel Overview Each of the Control Panel features labeled below is described in the sections that follow. Status indicators Monitor real-time amplifier values and operational mode Red if fault is active Yellow if warning is active Display error log Message box Control functions Jog mode controls 14.2: Status Indicators and Messages The Status area includes status indicator lights (described below) and a message box.
CME 2 User Guide Control Panel 14.3: Control Panel Monitor Channels The Control Panel Monitor channels can display real-time values on up to three separate variables. The procedure follows. Set up a monitor display channel Click in the list box and select a variable from the list. Disabled disables the display.
Control Panel CME 2 User Guide 14.4: Control Functions The Control area of the screen provides functions related to overall amplifier control. The screen options vary with model and configuration. Use the Control Panel Control Functions Control the operational state of the amplifier using the buttons as described below. Control Description Enable Click to software enable the amplifier. Disable Click to software disable the amplifier. This will also stop any CVM programs that are running.
CME 2 User Guide Control Panel 14.5: Jog Mode Jog mode provides a simple means for generating forward or reverse commands, as shown in the procedure below. Run a move in jog mode 1 To put the amplifier in jog mode, set the Enable Jog option. 2 Set up a jog move by setting the following mode-specific parameters: 3 Mode Current Parameter Description Current Current applied to the motor. Limited by current loop Continuous Current.
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CHAPTER 15: SCOPE TOOL This chapter shows how to use the CME 2 Scope Tool to program and test motion sequences. Perform the steps outlined below to access the Scope Tool. Details follow in the chapter. 1 2 Click to open the Scope Tool: See this chapter for a Scope Tool Overview (p. 154) and details on: Function Generator and Profile Tabs (p. 155) Trace Channel Variable Parameters (p. 156) Trigger Setup (p. 157) Trace Time, Sample Rate and Single Trace (p.
Scope Tool CME 2 User Guide 15.1: Scope Tool Overview The Scope Tool can be used to tune the amplifier, monitor performance, and perform diagnostics. Function Generator and Profile Generator can drive the motor without external control. Auto Set Up feature sets typical initial values for scope parameters. File menu Scope trace Function/Profile generation Scope settings and control loop parameters Scope controls Status message bar Button Description Save a trace. See Scope Trace Files (p. 165).
CME 2 User Guide Scope Tool 15.2: Function Generator and Profile Tabs The Function and Profile generators can provide inputs to the different control loops for tuning and diagnostics purposes without using an external control source. The Start button starts the function or profile generator. The Stop button stops the generator and aborts any profiles in progress. 15.2.
Scope Tool CME 2 User Guide 15.3: Trace Channel Variable Parameters Choose a trace variable for display in a Scope channel 1 2 Click the channel button. Choose a category and a trace variable. Category Disabled Trace Variable Category Misc. Current Commanded Current, Actual Current, Limited Current., 2 I T Amplifier Accumulator, 2 I T Motor Accumulator.
CME 2 User Guide Scope Tool 15.4: Trigger Setup Set up Scope trace trigger (manual setup) 1 2 Click Trigger Setup to open the screen: Choose from the settings described below: Setting Description Trigger Type Selects trigger type. Immediate Trigger: Trace begins as soon as Record is pressed. Rising Edge: Trace triggers when (after Record is pressed) the trigger signal rises though the trigger level setting.
Scope Tool CME 2 User Guide 15.5: Trace Time, Sample Rate and Single Trace Trace Time sets the length of the recorded trace. Sample Rate is the rate at which the signals are sampled. The rate depends on the trace time, the number of channels selected, and which variables are being traced. Single Trace puts the scope in a single trace mode of operation. In this mode, the trigger is not re-armed after a trace until the user presses the Record button.
CME 2 User Guide Scope Tool 15.6.2: Zoom Zoom in on a Trace Segment 1 Hold the left mouse button down while dragging a box around the area of interest. 2 Release the button to let the display zoom in on the selected area. 3 To restore the normal zoom level immediately, left-click anywhere on the trace. (Normal zoom level is also restored when the next trigger event occurs.) 15.
Scope Tool CME 2 User Guide 15.8: Measurement Tab The Measurement tab allows you to measure and analyze data from up to three parameters during an interval defined by adjustable cursors. The Cursor Data area displays a parameter’s values at the left and right cursor locations, and the difference between the two values. The Analysis area displays the minimum, maximum, average, and root mean square of the parameters during the cursor period.
CME 2 User Guide Scope Tool 15.9: Control Loop Parameters The Scope tool provides convenient access to all of the control loop parameters that might be used in tuning and diagnosing an amplifier. The user can adjust these parameters and see the results immediately on the scope. Control loop parameters are accessed through a set of tabs, shown below.
Scope Tool CME 2 User Guide 15.9.2: Trajectory Limits Tab In position mode, the Trajectory Limits tab can be used to set trajectory limits. For more information on the velocity and acceleration limits, see Trajectory Limits (p. 131). For more information on the Maximum Jerk setting, see Test S-Curve Profile (p. 130). 15.9.3: Position Loop Parameters In position mode, the Position Params tab can be used to set position loop parameters.
CME 2 User Guide Scope Tool 15.9.4: Velocity Loop Parameters In position and velocity modes, the Velocity Params tab can be used to set velocity loop parameters. For information on the Velocity Tracking parameters, see Position and Velocity Error Notes (p. 90). For information on the limits, see Velocity Loop Limits (p. 122).
Scope Tool CME 2 User Guide 15.10: Scope Files The Scope Tool allows you to save both scope settings and scope trace data. Saving the scope settings is useful for saving custom settings used for tests that are run frequently. Saving the trace data is useful for archiving the performance of a system so that it can be used as a reference at a later date for comparison. 15.10.
CME 2 User Guide Scope Tool 15.10.2: Scope Trace Files The Scope Tool can save trace data in Copley Controls scope files (.sco files) that can be opened later with the CME 2 Trace Viewer. Simultaneously, a version of the same trace is stored in a comma-separated text file (.csv) and a tab delimited file (.txt), either of which can be opened with a spreadsheet application such as Microsoft Excel (or other programs) for mathematical analysis. The format of the .csv and the .
Scope Tool CME 2 User Guide View a trace file: 1 On the Main screen, choose ToolsView Scope Files to open the window. 2 Click Open File. When prompted, select the name of the file you wish to open. Then, click Open to display the file in the Trace Viewer window. The Measurement tab allows you to measure and analyze data from up to three parameters during an interval defined by adjustable cursors. See Measurement Tab (p. 160).
CHAPTER 16: DATA, FIRMWARE, AND LOGS This chapter describes how CME 2 manages amplifier data and firmware, how to download firmware, and use the amplifier logs. 16.1: Amplifier RAM and Flash Memory .................................................................................................................................... 168 16.2: Disk Storage of Amplifier and Motor Data Files ................................................................................................................ 168 16.
Data, Firmware, and Logs CME 2 User Guide 16.1: Amplifier RAM and Flash Memory Amplifier RAM holds status data and certain user-entered data during operation. Its contents are flushed when the amplifier is reset or powered off. Flash memory permanently stores the data. The contents of flash are loaded into amplifier RAM at power-up or reset, as described below. Amplifier RAM Flash Volatile. Contents erased when amplifier is reset or powered off. Non-volatile.
CME 2 User Guide Data, Firmware, and Logs 16.3: Data Management Tools 16.3.1: Amplifier Data Management Tools Operations performed using the amplifier data management tools at the top of the Main screen (shown below) affect amplifier settings, including motor/feedback data. (CVM Control Program data is not saved by these operations.) Data Management Tools The amplifier data management tools are described below.
Data, Firmware, and Logs CME 2 User Guide 16.3.3: Save MACRO File for Delta Tau Controllers This feature is available only on Copley MACRO amplifiers such as the Accelnet MACRO, with a minimum firmware version of 1.2. qa ` q`` q` Save a MACRO file: 1 On the CME 2 Main screen, choose FileSave MACRO File to open the MACRO File Save window: 2 Enter the ID of the MACRO node with the settings you want to save and click OK. 3 When prompted, enter a File Name.
CME 2 User Guide Data, Firmware, and Logs …Download Firmware to the Amplifier, continued: 3 To save amplifier and motor data for backup purposes before downloading firmware, click Yes. Choose whether to save to disk, flash, both, or neither. Click OK to save data and continue to select a firmware image, or click Cancel to continue without saving data. If Save Data to Disk was selected, use the Save Amplifier Data to Disk screen to browse to the folder where you want to save the .ccx file.
Data, Firmware, and Logs CME 2 User Guide 16.5: Error Log Copley amplifiers track faults and warnings in a log in flash memory. View the CME 2 Error Log 1 2 3 Click the Error Log tool on the Main screen. Click a tab to view a section of the log: Tab Contents Active Type and description of each active fault and warning. The contents of this tab are automatically refreshed as new events occur.
CME 2 User Guide Data, Firmware, and Logs 16.6: Communications Log The communications log tracks all communications between CME 2 and the amplifier. The log is maintained in the PC’s RAM. Typically it is used only on request of customer service for troubleshooting purposes. When required, perform the following steps to manage the tracking and storage of these messages. NOTE: Do not leave the Enable Logging control selected for any longer than necessary.
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CHAPTER 17: VIRTUAL AMPLIFIER Virtual amplifiers can be used for training and for creating motor data files off line. A new virtual amplifier can be created based on a virtual amplifier template file (.ccv). CME 2 includes a set of .ccv files representing Copley Controls amplifiers. Perform these steps to create a virtual amplifier: 1 Start CME 2 (p. 15).
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APPENDIX A: COPY AMPLIFIER DATA Perform steps 1-5 to configure an amplifier/motor pair by copying a .ccx file that was prepared for the amplifier/motor combination. To load a CVM Program file as well, also perform step 6, and to load a Cam Table file, also perform step 7. 1 Make sure the amplifier is connected to the PC using the serial or CAN connector. 2 Start CME 2 (p. 15). 3 Use the command appropriate for your starting point: Starting from the Main screen, click Restore amplifier data from disk.
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APPENDIX B: LOCK/UNLOCK CME 2 CONTROLS Optionally lock CME 2 to prevent changes to amplifier settings. TIP: Lock CME 2 to prevent accidental changes to settings when copying amplifier files. 1 2 3 On the Main screen choose ToolsCME 2 Lock/Unlock. Set a new password in the Password and Verify Password fields. Click OK to lock out amplifier setting controls. WHEN CME 2 IS LOCKED: User cannot change any amplifier or motor settings.
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APPENDIX C: FILTERS Filters can be used to inhibit interference frequencies or dampen mechanical oscillations. Topics in this chapter include: C.1: Setting Parameters ............................................................................................................................................................ 182 C.2: Filter Configuration Windows ............................................................................................................................................. 182 C.2.
Filters CME 2 User Guide C.1: Setting Parameters To change or view filter configurations follow these steps: 1 2 Choose the Configure Filters button from the main screen to open the Filter Configuration screen. To view present filter settings choose the Filter Settings tab. Choose other tabs to configure Analog, V Loop, I Loop or Input Shaping settings. C.
CME 2 User Guide Filters C.2.2: Analog The Analog tab opens a window that shows analog filter choices and a representative curve. Modify the settings as needed and press Apply. C.2.3: V Loop The V Loop tab opens a window that shows Velocity Loop filter choices and a representative curve. Modify the settings as needed and press Apply. Selecting Default will supply a 200 Hz Low Pass filter to the first velocity loop output filter.
Filters CME 2 User Guide C.2.4: I Loop The I Loop tab opens a window that shows Current Loop filter choices and a representative curve. Modify the settings as needed and press Apply. C.3: Standard Filter Types C.3.1: Low Pass Filter Frequencies below the selectable cut-off are allowed to pass. Example: C.3.2: High Pass Filter Frequencies above the selectable cut-off are allowed to pass.
CME 2 User Guide Filters C.3.3: Notch Filter Notch filters allow a bandstop in a range between two selectable frequencies. It may be Butterworth (no ripple), Chebyshev (selectable passband ripple), or elliptical (ripple on both passband and bandstop). Example: C.3.4: Band Pass Filter Band pass filters allow a range of frequencies, between two selectable cut-offs, to pass. It may be Butterworth, Chebyshev, or Elliptical. C.3.
Filters CME 2 User Guide C.4: Standard Filter Families C.4.1: Butterworth Filter A Butterworth filter has two poles for faster roll-off at the cut-off frequency. Example: C.4.2: Chebychev Filter A Chebyshev filter has a faster roll-off than a Butterworth filter, but, as a result of the fast roll-off, ripple is introduced into the passband frequency. Example: C.4.3: Elliptic Filter Similar to a Chebyshev filter but ripple is introduced into both the passband and the stopband.
CME 2 User Guide Filters 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.
Filters CME 2 User Guide C.5.1: Input Shaping Window The Input Shaping tab opens a window that shows Input Shaping choices and a representative Time and Amplitude table. Modify the settings as needed and press Apply. Type as well as Frequency and Damping Rate may be adjusted. Overcurrent is adjustable when a Negative Zero Vibration or a Negative Zero Vibration and Derivative filter is chosen. If Custom is chosen as the Type, Time and Amplitude may be set manually. C.5.
CME 2 User Guide Filters C.5.3: Measuring Mechanical Vibration There are several ways to measure mechanical vibration. Two choices are offered below. Using an Accelerometer with CME 2 Begin with a Copley drive operational and controlled by CME 2. 1 Connect the accelerometer analog output to Copley drive’s Analog + and - on the signal input as in the diagram below. 2 On CME 2, click the Scope Tool 3 Select the Measurement tab, choose a channel, select Voltage, then Analog Command. 4 Perform a move.
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APPENDIX D: I2T TIME LIMIT ALGORITHM This chapter describes the algorithm used to implement the I2T limit. Topics include: D.1: I2T Algorithm ...................................................................................................................................................................... 192 D.1.1: I2T Overview.......................................................................................................................................................... 192 D.1.
2 I T Time Limit Algorithm CME 2 User Guide D.1: I2T Algorithm D.1.1: I2T Overview The I2T current limit algorithm continuously monitors the energy being delivered to the motor using the I2T Accumulator Variable. The value stored in the I2T Accumulator Variable is compared with the I2T setpoint that is calculated from the user-entered Peak Current Limit, I2T Time Limit, and Continuous Current Limit.
CME 2 User Guide 2 I T Time Limit Algorithm D.1.3: I2T Current Limit Algorithm – Application Example I2T Example: Parameters 2 Operation of the I T current limit algorithm is best understood through an example. For this example, a motor with the following characteristics is used: Peak Current Limit – 12 A I2T Time Limit – 1 S Continuous Current Limit – 6 A From this information, the I2T setpoint is: I2T setpoint = (12 A2–6 A2) * 1 S = 108 A2S See the example plot diagrams on the next page.
2 I T Time Limit Algorithm CME 2 User Guide I2T Example: Plot Diagrams 2 The plots that follow show the response of an amplifier (configured w/ I T setpoint = 108 2 A S) to a given current command. For this example, DC output currents are shown in order to simplify the waveforms. The algorithm essentially calculates the RMS value of the output current, and thus operates the same way regardless of the output current frequency and wave shape.
CME 2 User Guide 2 I T Time Limit Algorithm even though the commanded current remains at 12 A. The I2T Accumulator Variable value remains constant during the next 2 seconds since the difference between the actual output current and the continuous current limit is zero. At approximately 3.5 seconds, the commanded current falls below the continuous current limit and once again the output current follows the commanded current.
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APPENDIX E: HOMING METHODS This appendix describes the homing methods that can be chosen using the CME 2 homing controls described in Homing (p. 145). Contents include: Page E.1: Homing Methods Overview ................................................................................................................................................ 198 E.2: Legend to Homing Method Descriptions ......................................................................................................................
Homing Methods CME 2 User Guide E.1: Homing Methods Overview There are several homing methods. Each method establishes the: Home reference (limit or home switch transition or encoder index pulse) Direction of motion and, where appropriate, the relationship of the index pulse to limit or home switches. E.2: Legend to Homing Method Descriptions As highlighted in the example below, each homing method diagram shows the starting position on a mechanical stage.
CME 2 User Guide Homing Methods E.3: Homing Method Descriptions E.3.1: Set current position as home The current position is the home position. E.3.2: Next Index Direction of Motion: Positive Home is the first index pulse found in the positive direction. Direction of motion is positive. If a positive limit switch is activated before the index pulse, an error is generated. H Index Pulse Direction of Motion: Negative Home is the first index pulse found in negative direction.
Homing Methods CME 2 User Guide E.3.3: Limit Switch Direction of Motion: Positive Home is the transition of the positive limit switch. Initial direction of motion is positive if the positive limit switch is inactive. H Positive Limit Switch Direction of Motion: Negative Home is the transition of negative limit switch. Initial direction of motion is negative if the negative limit switch is inactive.
CME 2 User Guide Homing Methods E.3.4: Limit Switch Out to Index Direction of Motion: Positive Home is the first index pulse to the negative side of the positive limit switch transition. Initial direction of motion is positive if the positive limit switch is inactive (shown here as low). H H Positive Limit Switch Index Pulse Direction of Motion: Negative Home is the first index pulse to the positive side of the negative limit switch transition.
Homing Methods CME 2 User Guide E.3.5: Hardstop Direction of Motion: Positive Home is the positive hard stop. Direction of motion is positive. In servo modes, the hard stop is reached when the amplifier outputs the homing Current Limit continuously for the amount of time specified in the Delay Time. If a positive limit switch is activated before the hard stop, an error is generated. H Direction of Motion: Negative Home is the negative hard stop. Direction of motion is negative.
CME 2 User Guide Homing Methods E.3.6: Hardstop Out to Index Direction of Motion: Positive Home is the first index pulse on the negative side of the positive hard stop. Initial direction of motion is positive. The hard stop is reached when the amplifier outputs the homing Current Limit continuously for the amount of time specified in the Delay Time. If a positive limit switch is activated before the hard stop, an error is generated.
Homing Methods CME 2 User Guide E.3.7: Home Switch Direction of Motion: Positive Home is the home switch transition. Initial direction of motion is positive if the home switch is inactive. If a limit switch is activated before the home switch transition, an error is generated. H Home Switch Direction of Motion: Negative Home is the home switch transition. Initial direction of motion is negative if the home switch is inactive.
CME 2 User Guide Homing Methods E.3.8: Home Switch Out to Index Direction of Motion: Positive Home is the first index pulse to the negative side of the home switch transition. Initial direction of motion is positive if the home switch is inactive. If a limit switch is activated before the home switch transition, an error is generated. H Home Switch Index Pulse Direction of Motion: Negative Home is the first index pulse to the positive side of the home switch transition.
Homing Methods CME 2 User Guide E.3.9: Home Switch In to Index Direction of Motion: Positive Home is the first index pulse to the positive side of the home switch transition. Initial direction of motion is positive if the home switch is inactive. If a limit switch is activated before the home switch transition, an error is generated. H Home Switch Index Pulse Direction of Motion: Negative Home is the first index pulse to the negative side of the home switch transition.
CME 2 User Guide Homing Methods E.3.10: Lower Home Direction of Motion: Positive Home is the negative edge of a momentary home switch. Initial direction of motion is positive if the home switch is inactive. Motion will reverse if a positive limit switch is activated before the home switch; then, if a negative limit switch is activated before the home switch, an error is generated. H H Home Switch Positive Limit Switch Direction of Motion: Negative Home is the negative edge of a momentary home switch.
Homing Methods CME 2 User Guide E.3.11: Upper Home Direction of Motion: Positive Home is the positive edge of a momentary home switch. Initial direction of motion is positive. If the initial motion leads away from the home switch, the axis reverses on encountering the positive limit switch; then, if a negative limit switch is activated before the home switch, an error is generated. H H Home Switch Positive Limit Switch Direction of Motion: Negative Home is the positive edge of momentary home switch.
CME 2 User Guide Homing Methods E.3.12: Lower Home Outside Index Direction of Motion: Positive Home is the first index pulse on the negative side of the negative edge of a momentary home switch. Initial direction of motion is positive if the home switch is inactive. If the initial motion leads away from the home switch, the axis reverses on encountering the positive limit switch; then, if a negative limit switch is activated before the home switch, an error is generated.
Homing Methods CME 2 User Guide E.3.13: Lower Home Inside Index Direction of Motion: Positive Home is the first index pulse on the positive side of the negative edge of a momentary home switch. Initial direction of motion is positive if the home switch is inactive. If the initial motion leads away from the home switch, the axis reverses on encountering the positive limit switch; then, if a negative limit switch is activated before the home switch, an error is generated.
CME 2 User Guide Homing Methods E.3.14: Upper Home Outside Index Direction of Motion: Positive Home is the first index pulse on the positive side of the positive edge of a momentary home switch. Initial direction of motion is positive. If the initial motion leads away from the home switch, the axis reverses on encountering the positive limit switch; then, if a negative limit switch is activated before the home switch, an error is generated.
Homing Methods CME 2 User Guide E.3.15: Upper Home Inside Index Direction of Motion: Positive Home is the first index pulse on the negative side of the positive edge of momentary home switch. Initial direction of motion is positive. If initial motion leads away from the home switch, the axis reverses on encountering the positive limit switch; then, if a negative limit switch is activated before the home switch, an error is generated.
APPENDIX F: REGEN RESISTOR CONFIGURATION Optionally configure a regen resistor. Details follow in the chapter. Incorrect values may damage amplifier or external regen resistor. ! WARNING Copley Controls 2 For the regen I T algorithms to work correctly, the values entered in the following steps must be correct. Damage to the external regen resistor may result from incorrect values entered. Damage to the amplifier may result if an incorrect resistance value is entered.
Regen Resistor Configuration CME 2 User Guide Configure a Standard Copley Controls Regen Resistor 1 2 Click Configure Regen to open the Regen Resistor screen. Select the model number XTL-RA-03 or XTL-RA-04 and click OK to save the configuration and close the screen. Configure a Custom Regen Resistor 1 Click Configure Regen to open the Regen Resistor screen.
CME 2 User Guide Regen Resistor Configuration …Configure a Custom Regen Resistor, continued: 2 Select Custom Resistor and click Configure to enter the custom resistor data. Read the information displayed and click OK. When the Configuration screen appears follow the steps indicated. Verify the data and click Finish.
Regen Resistor Configuration CME 2 User Guide View Regen Settings on a Virtual Amplifier 1 216 Click Configure Regen Settings to open the Regen Settings screen.
APPENDIX G: ASCII COMMANDS/SERIAL CONTROL This chapter describes how to configure and operate an amplifier by sending ASCII commands over the serial bus. Contents include: G.1: Copley ASCII Interface ...................................................................................................................................................... 218 G.2: CME 2 ASCII Command Line Interface Tool ................................................................................................................
ASCII Commands/Serial Control CME 2 User Guide G.1: Copley ASCII Interface An amplifier’s RS-232 serial bus can be used by an external control application (HMI, PLC, PC, etc.) for setup and direct serial control of the amplifier. The control application can issue amplifier commands from the set of ASCII format commands that make up the Copley Controls ASCII Interface. For more information, see the Copley ASCII Interface Programmer’s Guide. G.
CME 2 User Guide ASCII Commands/Serial Control G.3: Single-Axis Serial Connection For RS-232 serial bus control of a single axis, set the CAN node address of that axis to zero (0). Note that if the CAN node address is switched to zero after power-up, the amplifier must be reset or power cycled to make the new address setting take effect.
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APPENDIX H: GAIN SCHEDULING The Gain Scheduling feature allows you to schedule gain adjustments based on changes to a key parameter. For instance, Pp, Vp, Vi, and Current Offset (A) could be adjusted based on changes to commanded velocity. Gain adjustments are specified in a Gain Scheduling Table. Each table row contains a key parameter value and the corresponding gain settings. The amplifier uses linear interpolation to make smooth gain adjustments between the programmed settings.
Gain Scheduling CME 2 User Guide H.1: Configure Gain Scheduling Use this procedure to select basic Gain Scheduling options. 1 If necessary, Start CME 2 Software (p. 15). 2 On the Main screen, choose AmplifierGain Scheduling. 3 Choose the Key Parameter: Key Parameter Description Disable Gain Scheduling. Use Written Parameter. Disable gain scheduling.
CME 2 User Guide Gain Scheduling H.2: Set Up the Gain Scheduling Table(s) H.2.1: Create a Gain Scheduling Table 1 If necessary, Start CME 2 Software (p. 15). 2 On the Main screen, choose AmplifierGain Scheduling.
Gain Scheduling CME 2 User Guide … Create a Gain Scheduling Table, continued: 4 If there is already a table stored in flash: Optionally Save Settings and Table Data to Disk (p. 226). Then click the Delete tool to delete the gain scheduling table data from amplifier flash and PC RAM. 5 6 Enter the number of lines (the number of gain adjustment specifications). Click OK. 7 Enter the Key Parameter and gain adjustment values.
CME 2 User Guide Gain Scheduling H.2.2: Edit Gain Scheduling Table Values 1 If necessary, Start CME 2 Software (p. 15). 2 On the Main screen, choose AmplifierGain Scheduling. 3 On the Gain Scheduling screen, open the Table tab: 4 Edit using standard keyboard and mouse techniques. Note that if you begin typing immediately, the digits you enter will be inserted in front of any existing digits.
Gain Scheduling CME 2 User Guide H.2.3: Save and Restore Gain Scheduling Tables and Settings The Config tab settings and Table tab data can be saved to a Copley Controls gains file (filename extension .ccg) on disk. A .ccg file can be restored and then saved to flash. Save Settings and Table Data to Disk 1 On the Gain Scheduling screen, click the Save gain scheduling table and setup to disk tool to open the Save Table to Disk screen. Enter a name for the file, and click Save.
CME 2 User Guide Gain Scheduling H.3: Gain Scheduling Table Guidelines A Gain Scheduling Table contains a progression of Key Parameter values and corresponding gain adjustment values. H.3.1: Gain Schedule Table Storage Limits The maximum number of lines (gain adjustment specifications) that can be stored in the Gain Scheduling Table is 1000. A typical Gain Schedule Table will contain far fewer lines.
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 reserved
