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CME 2 User Guide

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1. De en CME 2 Locked Rotary Motor Amp Under CAN Control Enter password to unlock CME 2 Password Unlock for this session only Enter the password Click OK 195 Copley Controls Data Firmware and Logs CME 2 User Guide 17 8 Firmware Download The amplifier s flash memory holds the amplifier s firmware As needed perform the following steps to obtain new firmware and download it to amplifier flash memory NOTES e CME 2 does not support downloading firmware to a node amplifier via a multi drop gateway amplifier a direct connection serial CAN EtherCAT must be used e To check the firmware version currently loaded click the Amplifier Properties button or choose Help gt About WARNING Do not power down or disconnect the amplifier during firmware download 1 On the Main screen choose Tools gt Download Firmware to open the Download Firmware window Browse to where the firmware file is located and click Open to start the download The progress will be displayed while downloading 2 Firmware Download Lola a Writing new FPGA and firmware image I i EA When the progress dialog closes the firmware download is complete Copley Controls 196 CME 2 User Guide Data Firmware and Logs 17 9 Error Log Click the Error Log tool on the Main screen g Error Log Active History Frequency etnon Status Description Fault Motor Phasing Error Active Ty
2. Analog Command ar PWM Command Digital Input ar CAN Configuration CT RO AO m Click the appropriate button to configure the amplifiers command input For more information see Command Inputs NOTE If the amplifier is to run CVM programs or in Camming mode see the relevant documents After setting command input parameters Click Close Copley Controls Amplifier Setup CME 2 User Guide 7 10 11 12 Configure faults Configure Faults Click Configure Faults to open the Fault Configuration screen and set latching faults as needed See Faults Click OK to close the Fault Configuration screen Configure an optional regen resistor Regen Settings lf the amplifier is equipped with a regen resistor click Regen Settings to open the Regen Settings screen See Configure a Standard Copley Controls Regen Resistor for regen resistor parameters Click OK to close the Regen Settings screen Phase and jog the motor Apply AC or HV power te Phase the motor See Auto Phase To verify Auto Phase results see Manual Phase Jog move the motor to verify that the amplifier can drive the motor See Jog Mode Tune the control loops Starting with the Current Loop set up and tune all applicable Control Loops If you are setting up a linear motor you can optionally Auto Tune all Loops for Linear Motors Set gains and limits for stepper mode stepper only If tuning a stepper amplifier in stepper mode Set P
3. Position Y Invert Output osition 2121 counts Actual Current U OA X DA W OA Control Increment Rate 90 elec deg s Set Zero Position 2 0 41 Current A Move Motor Enable Disable Restore Defaults OK Cancel Enable Disable OTT Verify the Current setting before enabling the drive Move Motor Rev Fwd 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 Motors with no friction may need friction added to steady motion 4 If the motor cannot keep up with the rate of vector rotation then reduce the Increment Rate or increase the Current 5 Verify that pressing forward button moves motor forward If it does not toggle the Motor Invert Output box setting 6 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 105 Copley Controls Motor Phasing CME 2 User Guide T Adjust Resolver Offset configuration as required testing Fwd and Rev to produce alignment of Motor Phase Angle with Resolver Angle as shown here Motor Phase Angle Black Feedback Angle in Red 120 60 180 aa 240 0 Note Motor manufacturers typically align the resolver in 30 degree increments typically by applying current through a pair o
4. To load a ccx file that was prepared for the amplifier motor Load ccx File combination see Copy Drive Data Then proceed to Step 13 of this Setup Procedure To complete the setup for a ServoTube motor click ServoTube ServoTube Setu a ServoTube Setup Setup and see ServoTube Setup Copley Controls 32 CME 2 User Guide Amplifier Setup 3 OR 33 Enter Motor Feedback Brake Stop parameters Ceaser 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 and then skip to Step 4 On the Motor tab modify the appropriate Rotary Motor Parameters or Linear Motor Parameters On the Feedback tab as appropriate for each encoder or resolver verify the parameters described in Feedback Parameters Rotary or Feedback Parameters Linear If using a brake click the Brake Stop tab to verify Brake Stop Parameters Use Calculate to set initial gains and limits HBB calculate Click Calculate to have the software calculate and display initial loop gains and limits See Calculate Load the calculated values into amplifier RAM by clicking OK Configure digital I O Input Output Click Input Output on the Main screen to open the Input Output screen Verify the I O settings described in Digital Inputs and Outputs On the Input Output screen click Close Configure the command input
5. 0 6553 N m Inductance 5 23 mH Velocity Limit 6000 rpm Aton Name Description O Z O O S Save motor data to Saves motor feedback brake settings from PC to a disk file with disk ccm name extension eat Restore motor data Restores contents of a ccm file from disk to PC from disk mb Save motor data to Saves motor feedback brake settings from PC to amplifier flash permanent flash memory e Restore motor data Restores motor feedback brake settings from flash memory to from flash the PC Calculate Calculates initial tuning and limit values 45 Copley Controls Motor Feedback CME 2 User Guide 1 OR _MotonFeedbaci Click Motor Feedback to open the Motor Feedback screen al Load Motor Feedback Brake Settings from a File Enter settings manually Motor Click the Motor tab to view or change Rotary Motor Parameters or Linear Motor Parameters Feedback Click the Feedback tab to view or change Feedback Parameters Rotary or Feedback Parameters Linear _Brake Stop Click the Brake Stop tab to view or change Brake Stop Parameters SE calaiate ck Calculate to calculate initial gains and limits aed On the Main screen click Save to Flash to avoid losing the changes Copley Controls 46 CME 2 User Guide Motor Feedback 5 2 Load Motor Feedback Brake Settings from a File 1 lf needed download a motor data file from the Copley Controls website In an internet browser
6. Function Generator Apply To Current Excitation Square Wave Amplitude 1A Period Copley Controls Scope Ch 1 ommandeccurt ch 2 AO Ch 3 IE A Ch 5 IE cho DE Trace Time 25 ms Tri Type Function Generator Apply To N A Position N A Level N A 174 CHAPTER 16 FILTERS Filters CME 2 User Guide 16 1 Setting Parameters To change or view filter configurations follow these steps 1 Choose the Configure Filters button from the main screen to open the Filter Configuration screen 2 To view present filter settings choose the Filter Settings tab Choose other tabs to configure Analog V Loop Loop or Input Shaping settings Filter Configuration 16 2 Filter Configuration Windows Along with the location of a cut off frequency on the filter curve there are several filter configuration parameters available depending on the initial choice of Standard Filter Types and Standard Filter Families Filter configuration choices may include e Number of Poles the location of a cut off frequency on the filter curve e Cut Off Frequency e Frequency 2 If two poles are chosen e Pass Band Ripple e Stop Band Ripple 16 3 Filter Settings The Filter Settings tab opens a window that shows what filters have been selected 2 Filter Configuration l l Coj a a Fiter Settings Analog v Loop 1 Loop input shaping Type Family Poles Frequency Analog Reference Disabled
7. 12 2 Position Limits Stepper Amplifier Perform the following steps to set position limits for a stepper amplifier connected to an encoder with Encoder Correction enabled not operating in Servo mode Pos Limits Click the Pos Limits button on the Main screen Position Limits Trajectory Values Commanded Position Velocity amp Acceleration Commanded Current _ Limiter Max Velocity Max Accel Clear Limits Set Default Limits Max Decel Abort Decel Jerk Abort Jerk 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 Max Decel Maximum trajectory deceleration Max value may depend upon the load inertia and peak current Min 0 disables limit Default 0 5 x velocity loop Accel Limit value 141 Copley Controls Stepper Tuning CME 2 User Guide Abort Decel Deceleration rate used by the trajectory generator when motion is aborted Min 0 Default 0 5 x velocity loop Accel Limit value Jerk Rate of change of acceleration The value of jerk set during the calculate procedure produces an S Curve whose maximum slope is equal to the trajectory profile slope This value will produce a maximum acceleration that is not more than the initial default val
8. CME 2 User Guide B amp B USB to Serial Adapter Advanced Settings for COM2 COM Port Number COM USE Transfer Sizes Select lower settings to correct performance problems at low baud rates E 4 i m Select higher settings for faster performance Receive Bytes ass Transmit Bytes BM Options Miscellaneous Options Select lower settings to correct response problems cerid ee a Serial Printer Latency Timer msec 16 Cancel If Power Off Event On Surprise Removal Minimum Read Timeout msec Set RTS On Close HoORBaAaSs Minimum Write Timeout msec Disable Modem Ctrl At Startup 5 The factory default setting for Latency Timer is 16 ms as shown above Change the Latency Timer to 1 ms No other settings should be changed Click OK to set the new value and close the dialog 6 Click OK to close the device properties dialog 237 Copley Controls CME 2 User Guide P N 16 01157 Revision 00 January 2014 2014 Copley Controls 20 Dan Road Canton MA 02021 USA All rights reserved
9. Description __ S O Cp Current loop The current error the difference between the actual and the limited commanded current is proportional 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 Integral gain reduces the current error to zero over time It controls the DC accuracy of the loop or the flatness of the top of a square wave signal The error integral is the accumulated sum of the current error value over time Current Loop Output The output of the current loop is a command that sets the duty cycle of the PWM output stage of the amplifier 117 Copley Controls 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 Calculate VLoop Click the V Loop button on the Main screen contents vary with model and configuration G Velocity Loop Commanded Welocit Commanded Output Current p Filters Actual Velocity Vel Limit 46875 rom Accel Limit 15625 rps Vp 15865 4 Low Gains Shift Decel Limit 15625 P37 Vi 3526 Fast Stop Ramp 15625 rps Vi Drain 0 C Disable Gains Tracking Vcff 0 Window 9375 rpm Velocity Limit Top speed limit Max value may depend upon the back EMF
10. When the current loop has been tuned the status indicator turns green and the status box contains instructions for the next step Auto Tune Current Loop Tune Done Gains Cp 81 Bandwidth 1200 Hz Press next to tune velocity loop Ci 86 I Inital Move Positive Velocity Loop Click Next to open the Jog screen Auto Tune Jog Jog Speed Position your motor in the center of its range SNORE Actual Current 0 0 A ot Menue A Current Loop Offset Current OA Back ment cancel Move the motor to the center of its motion range To use a jog move Set the Enable Jog option Optionally adjust the jog speed Jog the motor in either direction to move it to the center of its motion range Copley Controls 136 CME 2 User Guide Control Loops T When the motor is centered click Next lf the amplifier must apply current to hold the new position against a force such as gravity in a vertical application the following message appears Be LX A current loop offset requirement of 0 41 A has been detected If you are using a vertical system the current loop offset should be changed to compensate for gravity Make recommended change If this message appears click OK The Velocity Loop Tune screen opens Auto Tune Velocity Loop Tune Ready Target Bandwidth Auto tune will attempt to make a Higher 10mm move If your system is not capable of a 10mm move cancel no
11. ai From the Main screen click Restore gt Amplifier Data Load cox File Starting from the Basic Setup screen click Load ccx File When prompted browse to the folder containing the ccx file and open tt Sa On the Main screen click Save to Flash to save the new settings to flash memory Load a CVM program ccp file From the menu on the Main screen choose File gt Restore gt CVM Control Program When prompted navigate to the folder containing the appropriate ccp file and open it This procedure also results in setting the Enable Control Program on Startup option which configures the program to auto start when the amplifier is powered up or reset Load Cam Table cct files From the menu on the Main screen choose File gt Restore gt Cam Tables When prompted navigate to the folder containing the appropriate cct file and open it Load Gains Scheduling Table ccg files From the menu on the Main screen choose File gt Restore gt Gains Scheduling Tables When prompted navigate to the folder containing the appropriate ccg file and open tt TIP When copying amplifier data to multiple amplifiers in a production environment consider locking CME 2 to prevent accidental changes to settings See Lock Unlock CME Copley Controls 192 CME 2 User Guide Data Firmware and Logs 17 6 Save MACRO File for Delta Tau Controllers This feature is available only on Copley MACRO drives such as the XML Xenus MACRO 1 On the CME 2 Main
12. V Loop Input Disabled V Loop Output 1 Low Pass Butterworth 2 200 V Loop Output 2 Disabled V Loop Output 3 Disabled I Loop Input 1 Disabled I Loop Input 2 Disabled Input Shaping Disabled 0 1 Copley Controls 176 CME 2 User Guide Filters 16 4 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 Measuring Mechanical Vibration Below is a diagram of the input shaping process step Command Input Output Command Shapi A aping Time 0 0 Tt Below is a sensitivity curve When F Fm there is zero vibration 25 s F F o i T 20 N E E r k i 15 7 f 40 i l i F z li T en VT p N E ZVD 2 J i y w F 0 Bi Cal 0 6 0 8 1 0 1 2 1 4 Frequency F Fm 177 Copley Controls Filters CME 2 User Guide Analog The Analog tab opens a window that shows analog filter choices and a representative curve Modify the settings as needed and press Apply Filter Configuration Axis A Jo us Filter Settings Analog 1 Loop Input Shaping Analog Reference Input gt Analog Reference l ilt Type Low Pass ir Family Butterworth y 1 pole o 2 Pole Cut Off Frequency Fc 200 Hz gg Frequency 2 F2 1l Hz z348 40
13. _ Trigger Positive Motion Trigger Negative Motion Output Active High Output Active Low Upper Position O counts Lower Position 0 counts Use Actual Position Use Limited Position 2 Select one of the configurations described below and enter appropriate values for the parameters Configuration Description and Parameters In Position Activates the output while the axis is in the window between the programmed Upper Window and Lower positions Trigger at Position Activates the output for the programmed Time when the axis travels through the programmed Position Trigger Positive Activates the output for the programmed Time when the axis travels in the positive Motion direction through the programmed Position Trigger Negative Activates the output for the programmed Time when the axis travels in the negative Motion direction through the programmed Position 3 Choose Output Active High to have the output go high when active or Output Active Low to have the output go low when active 4 In stepper mode with no encoder choose Use Limited Position Otherwise choose Use Actual Position 5 Click OK to save changes to amplifier RAM and close the Custom Output Configuration screen Copley Controls 66 CME 2 User Guide Digital Inputs and Outputs 6 6 Synchronizing PWM Switching Frequency In some situations such as when sampling small analog signals it is desirable to synchronize the PWM switching frequency among mu
14. amp the Encoder value Min value 0 Acceleration Limit Maximum acceleration rate Max value may depend upon load inertia amp peak current Min value 1 Does not apply in position mode Deceleration Limit Maximum deceleration rate Max value may depend upon load inertia amp peak current Min value 1 Does not apply in position mode Tracking Window u See Position and Velocity Tracking Windows Tracking Time Velocity loop proportional gain Range 0 to 32 767 Velocity loop integral gain Range 0 to 32 767 Fast Stop Ramp Deceleration rate used by the velocity loop when the amplifier is hardware disabled Range 0 to 100 000 000 Default velocity loop Decel Limit value Low Gains Shift Increases the resolution of the units used to express Vp and Vi providing more Copley Controls 118 CME 2 User Guide Control Loops GE precise tuning For more information see Velocity Gains Shift Hi Gains Shift Decreases the resolution of the units used to express Vp and Vi providing more precise tuning For more information see Velocity Gains Shift Vi Drain integral Vi drain modifies the effect of velocity loop integral gain The higher the Vi Drain bleed value the faster the integral sum is lowered Range 0 to 32 000 Default 0 Veff Velocity loop command feed forward The input command to the velocity loop after limiting is scaled by this value and added to the output of the velocity loop 119 Copley Controls Con
15. motor data Failure to heed this warning can cause equipment damage injury or death DANGER At any point use Back to return to the previous screen Use Skip to tune the velocity loop without tuning the current loop or to tune the position loop without tuning the velocity loop 1 Verify the motor is mounted firmly Also verify the accuracy and completeness of the motor settings Current Loop 2 Make sure the amplifiers Basic Setup and Motor Phasing procedures have been performed and that the system is capable of a 10 mm move Click Auto Tune to open the Current Loop Tune screen Auto Tune Es Current Loop Tune Ready Gains Sees Select initial move direction then p press start to tune current loop Ci 35 Y Inital Move Positive Skip Cancel The status indicator is blue when the amplifier is ready for tuning A Verify the Initial Move Positive setting In most cases this option should be set If positive initial motion is not possible you can specify negative initial motion by clearing this option For instance negative initial motion may be used when a vertical axis is at the bottom of the motion range and the positive direction is down 135 Copley Controls Control Loops CME 2 User Guide 5 1 6 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
16. 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 Extract the contents of the zip file to the same location The folder should now contain the new motor data file with a ccm filename extension 2 Load the motor data to the amplifier _MotovFeedback Click Motor Feedback to open the Motor Feedback screen On the Motor Feedback screen click Restore Motor Data from Disk When prompted navigate to the folder containing the file then click on the file name and then click Open al O alculate initial gains and limits with Mon the Main screen click Save to Flash to avoid losing the changes 47 Copley Controls Motor Feedback CME 2 User Guide 5 3 Rotary Motor Parameters Setting Description Motor Inertia The rotor inertia of the motor Used for calculating initial velocity loop tuning values Range 0 00001 to 4 294 kg cm Default 0 00001 kg cm Number of Poles Brushless only The number of magnetic poles in the motor Required for correct commutation of the motor If the number of poles is not known Verify the motor s pole count using the Data accuracy test Range 2 to 200 Default 4 Peak Torque The peak torque that the motor can produce Peak Torque divided by torque constant motor s peak current limit Range 0 0001 to 2 100 Nm Default 0
17. 0001 Nm Continuous Torque The continuous torque that the motor can produce Used with the torque constant to calculate continuous current Range 0 0001 to 1 000 Nm Default 0 0001 Nm Velocity Limit Maximum speed of the motor Used to calculate the velocity and acceleration limits for the velocity loop Range dependent on encoder resolution Torque Constant Relates the motor s input current to torque produced Sometimes abbreviated as Kt Range 0 001 to 1 000 Nm Apk Default 0 001 Nm Apk Back emf Constant Relates the motor s input voltage to speed Sometimes abbreviated as Ke Used for calculating the maximum velocity for a given amplifier bus voltage Range 0 01 to 21 000 000 V Krpm Default 0 01 V Krpm Resistance Motor resistance line to line Used for calculating the initial current loop tuning values Range 0 01 to 327 Default 0 01 Q Motor inductance line to line Used for calculating the initial current loop tuning values Range see the hardware documentation Basic Step Angle Fundamental stepper motor step in degrees Min 0 225 Max 22 5 Default 1 8 Microsteps Rev Number of microsteps per revolution of the motor Min 4 Max 100 000 000 Default 4000 Full Steps Rev This read only value can be used after entering Basic Step Angle to cross check against motor data sheet Copley Controls 48 CME 2 User Guide Motor Feedback 5 4 Linear Motor Parameters Setting Description Selects whether the parameter
18. CME 2 User Guide Gains Scheduling G Gain Scheduling File Edit V Loop Vp V Loop Vi Current Offset A CVM memory usage 1 2 iB Click the Create New Table button and enter the number of lines for the table New Table Enter Number of Lines 2 3 Enter the Key Parameter and gain adjustment values NOTE e All values must be whole numbers no fractional values e All Key Values must be increasing 4 oq After all values have been entered click the Save Table button This action saves both configuration and table data 205 Copley Controls Gains Scheduling CME 2 User Guide Copley Controls 206 CME 2 User Guide Regen Resistor Configuration CHAPTER 20 REGEN RESISTOR CONFIGURATION 207 Copley Controls Incorrect values may damage amplifier or external regen resistor For the regen I T algorithms to work correctly the values WARNING 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 Failure to heed this warning can cause equipment damage Configure a Standard Copley Controls Regen Resistor 1 _ ContgureRegen Click Configure Regen to open the Regen Resistor screen Regen Resistor gt XTLRA 03 XTLRA 04 gt Custom Resistor OK Cancel 2 Select the model number XTL RA 03 or XTL RA 04 and click OK to save the configurat
19. Controls Command Inputs CME 2 User Guide Pulse and Direction 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 A EEE 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 Count Up Count Down 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 JUuUUL o o o o Down Input ee IN 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 Quadrature In quadrature format A B quadrature commands from a master encoder provide velocity and direction commands as shown below Copley Controls 76 CME 2 User Guide Command Inputs Alnput III EF LI Lo B Input J EF SUIL lt Velocity Command The ratio can be programmed for electronic gearing 77 Copley Controls Command Inputs CME 2 User Guide 7 4 Software Programmed Input Settings These settings can be saved to flash to allow default conditions to be set and used when the amplifier is powered up or reset Programmed Position Programmes Positi
20. FUNCION Generale neue en EN 162 IOA PrO ea CFI CU AM nn A IN 163 15 5 Trace Channel V AWADIOS nada er esse 164 19 6 Tigger A essen E A 166 1957 Measurement Tabea AE 168 15 87 Control Loop Parameles ia an 170 A e o FETT 170 TAI SOTO RY iS Ta leo opoaee 171 Position Loop ParametelS corps 171 Velocity Loop PF ara Mel Sara ee nee OR 172 A AA A eae aa 173 13 10 ACE VIOWGT sii 174 EE E A o O E E A E E E E E E A E A E E E T E E E E E E ETE 175 TS Ne Ae EE ALE e artnet EEA EE animes nee DO EOR A SEEE E E T EA 176 16 27 Fiter Conigaraton Windows se reee E E EA E A O 176 153 FIRSESELNGS Verne ee e ere eee 176 16 4 SOUL SIVA ING yasni Bremse nme 177 ANOO A RT 178 A NEN ERENDEPERFEHERENEREONE FEEIEHENESTPENELFERFEHELENERLOBERERTCHELESSPENUEPEBLEUFLENEREOHEFEPTEHREETERERTEPERTEERLENEREONEFERFEHENESCBENTERLTER 178 GUTEN LOOD near ea E E Y 180 16 5 Standal Eller TDi ita 181 LOW Fass Eller rasni E E 181 High Pass le a dt e a Hauses lee le 181 A A A RA o A saaeesebisian 181 Band Pass Ale AAA A 181 Custom ES qual bobos 182 19 6 Standard Filter RAQUETA 183 BUtREIWORN FRINGE vcs sense aa I Ike 183 Chebychev E a E nennt E E E E O REIFE 183 EPI AMES ee 183 16 7 NPUE SHADING Window airada 184 IHPUESHABING POS sa ae ee ee 184 16 8 Measuring Mechanical ViDa sorrara a eaa A Taaa a 185 Using an Accelerometer With CME 22 ee ee daa 185 Using CME 2 to Monitor FOlowinG EMOr siria il ee eu DE 185 Data Firmware MALOS a erica 186 17 1 Amplitistr BAM an
21. Negative Home is the first index pulse on the positive side of the negative edge of a momentary home switch Initial direction of motion is negative If the initial motion leads away from the home switch the axis reverses on encountering the negative limit switch then if a negative limit switch is activated before the home switch an error is generated Home Switch OA Boo Negative Limit Swth Lp Index Pulse Copley Controls 228 CME 2 User Guide Homing Methods 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 0 Home Switch AE Positive Limit Switch EBEN Index Pulse Direction of Motion Negative Home is the first index pulse on the positive side of the positive edge of a momentary home switch Initial direction of motion is negative if the home switch is inactive If the initial position is right of the home position the axis reverses on encountering the home switch AREA Home Switch rd Ho o Negative Limit Switch A AAA H Index Pulse 229 Copley Controls Homing Methods CME 2 User Guide Upper Home Inside Index Direction
22. Phase with a brushless rotary motor digital Halls and an incremental quadrature encoder Screens vary for other configurations 1 2 Verify that the Enable Input is not activated and that HV or AC power is applied te Click Auto Phase to open the Auto Phase wizard Q Rite Pe Motor Direction Setup Move the motor in the direction that you want to be positive Press Next when done Motor Actual Position 0 counts Release Brake E j Cancel Move the motor in the direction to be considered positive OR lf you cannot move the motor click Skip you will confirm motor direction later NOTE If an output is configured as a brake you can temporarily release the brake by holding down the Release Brake button The brake will be reactivated when you release the button Click Next to go to the Motor Wiring Setup step Copley Controls 92 CME 2 User Guide Motor Phasing C Auto Phase Motor Wiring Setup Commanded Motor Phase Angle The software will now micro step the motor 120 Make sure the motor is free to move 150 Press Start when ready 180 Auto Phase Current 0 41 A 210 240 Increment Rate 90 elec deg s Motor Actual Position 2 counts Ready Cancel 5 Activate the Enable Input 5 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 c
23. Runs in Camming Mode See Copley Camming User Guide e Digital Input Command input is provided via the chosen Input Source below e CAN Command input is provided over the CANopen network See the CANopen Programmer s Guide Input Source Choose the input source for PWM or Digital input commands e Single ended Inputs Command input is provided via two of the amplifier s programmable digital inputs e Multi mode Port Command input is provided via differential inputs on the amplifier s multi mode port e Differential Inouts Command is provided via differential inputs e High Speed Inputs Command is provided via two of the amplifier s high speed inputs Copley Controls 40 CME 2 User Guide Basic Setup 5 Set Miscellaneous Options Bas c Setup Miscellaneous Options Commutation Mode Sinusoidal Trapezoidal Estimated Sinusoidal Use Back EMF For Velocity Use Halls for Velocity Multi mode Port Differential Input Cancel Setting Description o Commutation Use back EMF for Velocity Use Halls for Velocity and Position Multi mode Port Commutation method Sinusoidal Trapezoidal or Estimated Sinusoidal If selected will use the motor s measured back EMF to determine motor velocity Recommended only for medium to high speed Accuracy depends on the accuracy of the programmed Back EMF value and may be affected by factors such as cable resistance If selected will use transitions
24. Trace Status Ready Line Style line Preferences plus connected plus Line Style A line connects the plotted data points plus The Scope plots data points as plus signs with no connecting line connected plus Data points are plotted as plus signs and are connected with a line Preferences anti aliasing When anti aliasing is selected the Scope removes screen related jaggedness in the displayed trace Use of this feature may slow down the refreshing of traces on slow computers When selected a grid is displayed on the scope screen Trace Display Zoom 159 Copley Controls Oscilloscope CME 2 User Guide 1 Hold the left mouse button down while dragging a box around the area of interest Trace Status Ready 2 Release the button to let the display zoom in on the selected area Trace Status Ready 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 Controls al Save a trace See Save a trace See Scope Trace Files Trace Files Eu as ooo Begins recording a trace Stop Trace Stop Trace Stops recording a trace Clears the trace from the screen and trace data from buffer Copley Controls 160 CME 2 User Guide Oscilloscope AutoSetup Single Trace Auto Scale Lock Trace Time 1 255 w sample Rate 500 ps Auto Setup When selected the scope will be set up based on the
25. by the in Passive Monitor passive load position variable but it will not be used to control the position of the Mode axis Stepper Drives Only Motor Encoder Select the encoder type e None e Primary incremental Requires encoder Amplifier operates as a true closed loop servo amplifier controlling Mode a stepper motor Enable Encoder Requires encoder Amplifier runs as a stepper drive encoder feedback is used to Correction correct positional errors See Encoder Correction 39 Copley Controls Basic Setup CME 2 User Guide A Set Operating Mode Options Basic Setup Operating Mode Options Operating Mode Position Command Source Digital Input Digital Input Source High Speed Inputs gt Multi mode Port Differential Inputs Caza Cena Setting Description Operating Choose the mode of operation Current Velocity or Position Mode See Control Loops Command Choose the command input source see Command Inputs Source e Analog Command Analog voltage provides command input e PWM command current and velocity mode only Digital pulse width modulated signal provides command input e Function Generator Internal function generator provides command input e Software Programmed The amplifier is controlled by software commands from either the Copley Virtual Machine CVM or an external source See Copley Indexer Program User s Guide or the Copley ASCII Interface Programmer s Guide e Camming
26. counts Window 1000 counts Warning 2000 counts Time 10 ms Disable Fault 125 Copley Controls Control Loops CME 2 User Guide Acceleration feed forward Range 0 to 32 767 See Trajectory Limits Vff Velocity feed forward Range 0 to 32 767 100 Vff 16 384 Trajectory Limits Pl Position loop proportional gain Range 0 to 32 767 See Trajectory Limits Gains Multiplier Position loop output is multiplied by this value before going to the velocity loop In dual encoder systems the multiplier s initial value is calculated based on the ratio of motor encoder turns to position encoder turns Following Error The level in encoder counts at which the following error produces a fault which stops Fault the servo loop We recommend raising the fault level before tuning the loop See Following Error Faults Following Error The level in counts at which the following error produces a warning without stopping Warning the loop See Following Error Warnings Disable Fault Stops following error from faulting See Following Error Faults Tracking Window Width of tracking window in counts See Position and Velocity Tracking Windows Position must remain in the tracking window for this amount of time to be considered tracking See Position and Velocity Tracking Windows Pr Posionioopintegralgain O OOOO O OO Pa Postionioop derivative gain _ Position Wrap Click the Position Wrap button Motor Position Wrap O counts 1 re
27. current Units mA s Copley Controls 80 CHAPTER 8 NETWORK CONFIGURATION Network Configuration CME 2 User Guide 8 1 CANopen 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 1 Verify that the CAN network has been cabled and terminated as per amplifier documents 2 nfiguration retomo Click CAN Configuration to open the CAN Configuration screen If CAN is not the Position Loop Input choose Amplifier gt Network Configuration instead CAN Configuration Network Type Input Mapping DeviceNet Al Er 4 Mumber of Inputs Bit Rate 1Mbit s el Switch Address Configuration Switch Z Use Switch Switch Use Inputs Use Programmed Value Switch 3 Choose network type CAN or DeviceNet This is optional for some drives 4 Choose a Bit Rate and choose any combination of address sources Switch Inputs and Programmed Value The address is the sum of the values from these sources 5 For each source selected perform the additional steps described below Enter the Programmed Value Enter Number of Inputs then choose inputs to represent each CAN address bit Copley Controls 82 CME 2 User Guide Network Configuration 6 Click Save amp Reset to save changes to amplifier flash close the
28. done Motor Actual Position 0 counts Release Brake E E Skip gt Cancel 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 2 Auto Phase Motor Wiring Setup The software will now micro step the motor Make sure the motor is free to move Press Start when ready Auto Phase Current 0 41 A Increment Rate 90 elec deg s Motor Actual Position Ready 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 lf you chose to Skip the motor direction setup step Auto Phase will prompt for confirmation of correct motor direction Copley Controls 98 CME 2 User Guide Motor Phasing If the step fails see Troubleshooting the Auto Phase Problems NOTE If incorrect values were entered for inductance and resistance the calculated Cp and Ci values may produce current loop oscillation evidenced by an audible high frequency squeal during auto phasing T Click Next to open the Auto Phase Count Test screen _ Auto Phase ir Phase Count Test The software will now micro step the motor in the negative direciton Make sure the motor i
29. gain Position mode only nz Acceleration feed forward Position Loop Gains Velocity feed forward iti i Velocity loop proportional gain Position or velocity y I00P prop g Velbeity Looe Gains mode only Velocity loop integral gain Current loop proportional gain Current Loop Gains All modes Current loop integral gain Encoder Correction Gain Stepper only Encoder Correction Copley Controls 170 CME 2 User Guide Oscilloscope Trajectory Limits Tab Available in position mode Settings Gains Trajectory Limits Velocity Params Maximum Velocity 750 Maximum Acceleration 250 Maximum Deceleration 250 Maximum Jerk 10000 For more information see Position Loop Setup and Tuning Position Loop Parameters Available in position mode Settings Gains Trajectory Limits Position Params Velocity Params Position Tracking Window 4096 counts Set Zero Position Time 10 ms Actual Position 120000 counts Following Error 16384 counts Disable Following Error Fault Set Zero Position sets the amplifier s actual position count to zero For more information see Position Loop Setup and Tuning 171 Copley Controls Oscilloscope CME 2 User Guide Velocity Loop Parameters Available in position and velocity modes Settings Gains Trajectory Limits ie eine Velocity Tracking Window Accel Limit Decel Limit For information see Velocity Loop Setup and Tuning Copley Co
30. in real time to reflect certain operational conditions and changes entered with CME 2 software At any time the user can use CME 2 to restore data from flash into amplifier RAM Flash e Non volatile Contents retained when the amplifier is reset or powered off e Modified only by using a Save to Flash tool or by closing certain screens Motor Feedback Basic Setup Homing or CAN Configuration whose contents are automatically saved to flash upon closing of the screen Parameters reside in RAM only Flash only or both RAM and Flash The table below illustrates the typical parameter locations Refer to the Parameter Dictionary for information about specific parameters Data ResidesIn Data Flash only This category includes all Motor Feedback screen data and Basic Setup screen motor feedback data only This data is saved to flash when the user confirms the values and closes the screens without cancelling Amplifier RAM only Includes operating status data such as actual position actual current and amplifier temperature Such data is never stored in flash It is destroyed from amplifier RAM with each power down or amplifier reset Flash and amplifier RAM Includes all other data not represented in the two categories above When changing these parameters in CME 2 the value is saved to amplifier RAM only To save these values to flash the Save To Flash operation must be performed or data will be lost on power down or reset 187 Co
31. loop feedback configured as follows e Single sensor Position loop feedback comes from the encoder or resolver on the motor e Dual sensor Position loop feedback comes from the encoder attached to the load Note that in either case velocity loop feedback comes from the motor encoder or resolver Position Loop Output The output of the position loop is a velocity command used as the input to the velocity loop Position Wrap The position wrap feature causes the position reported by the amplifier to wrap back to zero ata user defined value instead of continually increasing Once set the reported position will be between 0 and n 1 where n is the user entered wrap value This feature is most useful for rotary loads that continually turn in one direction and only the position within a revolution is of interest to the user Relative moves with the wrap value set will move the relative distance called for Example if the wrap value is set to 1000 and a relative move of 2500 is commanded the axis will turn 2 Ya revolutions Absolute moves will move the shortest distance to arrive at the programmed position This could be in the positive or negative direction Moves programmed to a point greater then the wrap value will cause an error Following Error Faults When the position error reaches the programmed fault threshold the amplifier immediately faults The following error fault can be disabled Following Error Warnings When the posi
32. ripple or elliptical ripple on both passband and bandstop Example dB 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 181 Copley Controls Filters CME 2 User Guide Custom Biquad Filter The Bi Quadratic filter has two quadratic terms one in the numerator and one in the denominator The numerator affects the filter s two zeros and the denominator affects the filter s two poles Many filter classes and types can be expressed in the Bi Quad form by entering the coefficients The coefficients can be calculated using any commercially available math software package and entered as floating point numbers However due to the fixed point representation the numbers may be rounded Example br bi bz q E ar iZ al 2 1 a7 a7 1 2 Copley Controls 182 16 6 CME 2 User Guide Filters Standard Filter Families Butterworth Filter A Butterworth filter has two poles for faster roll off at the cut off frequency Example dB 3dB 40dE decade 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 dB Nu Rp FE Elliptic Filter Similar to a Chebyshev filter but ripple is introduced into both the passband and the stopband It has a faster roll off than a Cheb
33. screen choose File gt Save MACRO File to open the MACRO File Save window MACRO File Save MACRO node ICAA Enter the ID of the MACRO node with the settings you want to save and click OK When prompted enter a File Name If needed navigate from the default AmpData folder to another folder where you wish to store the file 4 Click Save to save the pmc file in the same folder and close the screen 193 Copley Controls Data Firmware and Logs CME 2 User Guide 17 7 Lock Unlock CME The Lock feature of CME 2 is used to lock out most screens to prevent data from being changed WHEN CME 2 IS LOCKED e User cannot change any amplifier or motor settings e User can download amplifier and motor files and Cam Tables jog the motor run scope functions and profiles and monitor amplifier performance with the scope and control panel 1 On the Main screen choose Tools gt CME 2 Lock Unlock 2 Seta new password in the Password and Verify Password fields CME 2 Lock Enter password to lock CME 2 Password Verify Password OK Cancel Copley Controls 194 CME 2 User Guide Data Firmware and Logs Click OK to lock out amplifier setting controls State CANopen Interface Disabled Input Output CVM Control Program Po i CAN Configuration Pos Limits Detent Loop MotorFeedback Home Configure Faults
34. setting for either the Function or Profile Generator whichever is active Single Trace When selected only one trace will be collected and displayed otherwise a new trace will be started as soon as the current trace is displayed Auto Scale Lock When displaying the trace data the scope will automatically scale the vertical axis for optimal viewing When Auto Scale Lock is selected the y axis scale will be locked at is current setting This is the total amount of time the trace is recorded Sample Rate The rate at which each sample is collected When tracing multiple channels all channels are collected at approximately the same time 161 Copley Controls Oscilloscope CME 2 User Guide 15 3 Function Generator The Function generators can provide inputs to the different control loops for tuning and diagnostics purposes without using an external control source Function Generator Profile FERRE EEE EEE EEE EERE EEE EEE EEE EERE EEE EERE EERE HED Apply To Melty mad Y Function Square Wave Amplitude 200 mm s Frequency 9 Hz Start Stop The Start button starts the function or profile generator The Stop button stops the generator and aborts any profiles in progress Parameter Description Apply To Control loop to which the Excitation will be applied Current available in all modes Velocity available in velocity or position mode or Position available in position mode only Function Function that
35. than the continuous current the I T Accumulator Variable value begins to fall incrementally The IT Accumulator Variable value continues to fall until at approximately 5 0 seconds when the commanded current goes above the continuous current limit again The actual output current follows the current command until the IT Accumulator Variable value reaches the I T setpoint and current limiting is invoked T Accumulator TTS N2T Setpoint 2T Accumulator w a lt gt O da ce E pa Time S Diagram B IT Scope Trace Variables Two Scope Tool trace variables are available for monitoring whether the I T accumulator is accumulating or discharging e The I T Amplifier Accumulator variable evaluates the accumulator against the factory set current limits of the amplifier e The IT Motor Accumulator variable evaluates the accumulator against the user programmed current loop values The value shown Diagram B has been normalized so that 100 equals the I T setpoint When either trace variable line reaches 100 current limiting will be invoked Copley Controls 214 CME 2 User Guide Homing Methods APPENDIX B HOMING METHODS 215 Copley Controls Homing Methods CME 2 User Guide Overview There are several homing methods Each method establishes the e Home reference limit or home switch transition or encoder index pulse e Direction of motion and where appropriate the relationship of the index pulse
36. to limit or home switches Homing Diagram Legend As highlighted in the example below each homing method diagram shows the starting position on a mechanical stage The arrow line indicates direction of motion and the circled H indicates the home position Solid line stems on the index pulse line indicate index pulse locations Longer dashed lines overlay these stems as a visual aid Finally the relevant limit switch is represented showing the active and inactive zones and transition Mechanical Stage Limits ag Axis Starting position gt Zus U lt Direction of motion Home position REN W lt Starting position Index pulse location u Index Pulse Positive Limit Switch A Sw itch inactive Switch active Sw itch transition Note that in the homing method descriptions negative motion is leftward and positive motion is rightward Copley Controls 216 CME 2 User Guide Homing Methods Homing Method Descriptions Set current position as home The current position is the home position 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 0 Index Pulse Direction of Motion Negative Home is the first index pulse found in negative direction Direction of motion is negative If a negative limit switch is activ
37. to open the Trace Variable selection screen erg elocity Loop P Gain Velocity Loop I Gain Event Status Misc Raw Encoder Signals Trace Variable lt Channel disabled no associated variable gt Commanded Current Actual Current Limited Current IT Amplifier Accumulator I T Motor Accumulator Profile Velocity Commanded Velocity Limited Velocity Actual Motor Velocity Actual Load Velocity Unfiltered Motor Velocity Velocity Error Commanded Position Limited Position Actual Load Position Actual Motor Position Following Error Passive Load Position Profile Acceleration Voltage Analog Command Bus Voltage Analog sin Input Analog cos Input Terminal Voltage Stepper Copley Controls 164 CME 2 User Guide Oscilloscope Terminal Voltage Seno Event Status Short Circuit Amp Over Temperature Over Voltage Under Voltage Motor Over Temperature Faults Feedback Error Motor Phasing Error Following Error Command Input Fault Amplifier Fault a latched fault is active Event Status Current Limited Voltage Limited Positive Limit Switch Negative Limit Switch Following Warning Warnings Velocity Limited Acceleration Limited Positive Software Limit Negative Software Limit Pos Outside of Tracking Window Vel Outside of Tracking Window Event Status Amp Disabled by Hardware Amp Disabled by Software Attempting to Stop Motor Motor Brake Misc Active PWM Outputs Disabled Position Has Wrapped Home Switch Active In Mo
38. will be applied to the control loop selected in the Apply To list box The choices vary with the control loop selected Selected Control Loop Functions Available Current Sine Wave Square Wave Step Forward Step Forward and Reverse and Impulse Velocity Sine Wave Square Wave Step Forward Step Forward and Reverse Position Sine Wave Square Wave Amplitude Amplitude of the command Units vary depending on the value chosen in the Apply To field Sine Wave and Square Wave only Frequency of input command cycle Step Forward Step Forward and Reverse and Impulse only Duration of each input pulse Copley Controls 162 CME 2 User Guide Oscilloscope 15 4 Profile Generator Function Generator Profile Move Type Relative gt Trap Absolute S Curve Distance 2000 counts F Reverse and Repeat 2 Ga Parameter Move Relative Moves axis a specified distance from the starting position Absolute Moves axis to a specific position Type Trap or S Curve Distance Distance for Relative move Position Target position for Absolute move Reverse and Repeat Relative move only When selected will continuously generate forward and reverse moves of the distance specified until Stop is pressed 163 Copley Controls Oscilloscope CME 2 User Guide 15 5 Trace Channel Variables Settings Veloci allowing Error Ar an llu 5 lll Cc EEE Ch 1 Click the Channel button
39. 01 mV as 1 mV 200 mV as 100 mV and so on Dead Band Output 200 100 0 100 200 Input 71 Copley Controls 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 The offset can also set up the amplifier for bi directional operation from a uni polar input voltage An example of this would be a 0 to 10 Vdc velocity command that had to control 1000 rom CCW to 1000 rom CW Scale would be set to 2000 rpm for a 10 Vdc input and Offset set to 5V After this a O Vdc input command would be interpreted as 5 Vdc which would produce 1000 rom CCW rotation A 10 Vdc command would be interpreted as 5 Vdc and produce 1000 rom CW rotation Monitoring the Analog Command Voltage The analog input voltage can be monitored in the Control Panel and in the Scope Tool The voltage displayed in both cases is after both offset and deadband have been applied Analog Command in Position Mode The Analog Position command operates as a relative motion command When the amplifier is enabled the voltage on the analog input is read Then any change in the co
40. 2 00 Calibration of an absolute encoder is a two part process 1 Mechanical Homing 2 Calibration Mechanical Homing Mechanical homing is the process of moving the motor to the position that is machine zero This is the location from which all dimensions are absolute in the machine s position reference frame Enter the values of the appropriate homing parameters Home Click the Home button to run the home sequence 1 2 3 Repeat if necessary until the motor is positioned at machine zero 4 Click the Save button Calibration Calibrating the encoder involves saving the absolute position at machine zero to the drive s flash This value will be saved as a negative number and added to the absolute encoder positions thereafter by the firmware to convert them to machine absolute values This value is stored in the Home Offset parameter CME 2 provides a single button click operation to perform this calibration Galbrate Click the Calibrate button to initiate the calibration routine CME 2 will perform the following sequence e Set the calibration bit of the Homing Configuration register Copley Controls 148 CME 2 User Guide Homing e Initiate the homing sequence The drive will then perform the following sequence e Run the home sequence e Save the Home Offset in flash e Change the home method to Absolute Encoder Immediate Home The Homing Adjustment field on the Home screen will show the offset value saved in f
41. 7 Copley Controls Installation Startup and Interface Tour CME 2 User Guide 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 Control Loops Input Output CWM Control Program Input Command Analog Command P Loop gt W Loop gt Loop gt MotorFeedback Home Configure Regen Configure Faults Configure Filters Name Description For More Information Input Opens Input Output screen Digital Inputs and Outputs Output CVM Opens Copley Virtual Machine screen Copley Indexer Program User s Control Guide Program Input Opens screen for configuring the input command Command Inputs Command Button text varies depending on the selected control loop input Control Each opens a control loop configuration screen Control Loops Loops Motor Opens the Motor Feedback screen Motor Feedback Feedback Configure Opens Regen Settings screen Regen Resistor Configuration Regen Configure Opens Fault Configuration screen Faults Faults Configure Opens Filter Configuration Screen Filters Filters Encoder Stepper amplifier with encoder only Opens Encoder Encoder Correction Correcti
42. Adapters Realtek PCIe FE Family Controller _ Click Finish to save the settings Copley Controls 22 CME 2 User Guide 2 5 Connect to an Amplifier Installation Startup and Interface Tour Choose an amplifier by clicking on its name in the Copley Neighborhood When there is only one amplifier CME 2 will automatically connect on startup 23 One serial port a CME 2 V7 0 22 090 10 X Ax File Amplifier Tools Help IT S d Copley Neighborhood BES Virtual ii aea CAN network b CME 2 V7 0 SP2 090 10 Y Ax File Amplifier Tools Help 47 bg a E El Copley Neighborhood C EEE Virtual Amplifier BB CAN K Axis EtherCAT network amp CME 2 V7 0 XE2 230 20 X Ay File Amplifier Tools Help Ay bg aA E El Copley Neighborhood pue ES Virtual Amplifier Multiple serial ports 3 CME 2 V7 0 XPL 230 40 Y Ax File Amplifier Tools Help a i 2 COE El Ji Copley Neighborhood HE Virtual Amplifier RE COMA K Axis Multi drop CAN GB CME 2 V7 0 BPL 090 30 unne File Amplifier Tools Help oy a ES EM E El Copley Neighborhood EEES Virtual Amplifier C COM unnamed MY Node 1 Y Axis E Mode 2 Z Axis Copley Controls Installation Startup and Interface Tour CME 2 User Guide 2 6 Rename an Amplifier 4 Choose Main Menu Amplifier gt Rename to open the Rename Amplifier screen Enter the new name x axis 2 E
43. CME 2 User Guide copley controls Revision 00 January 2014 CME 2 User Guide Contents ABOUT ThIS Manual iinis oie 6 Related DOCUMENT a 6 CO ae ae ae ee ine ana as e de easy la 6 BOEUMENL Valdes nc 6 A no A A O 8 1 A au ahan E E eis as His ea ee 9 Ted HOST Oomp lerRequiremenisinstases esta lassen 10 Gomp lerand Operating SVS tei seen eine 10 Default File Local ann ee ee ic 10 Serlal Gomm nlcallons au ee een 10 GAN COMMUNICA ONS ee ee nee 10 Ether GA Comin Caton ssi csvset ee een een 10 12 N gt E N ene ee non O A le aren 11 Sepan TUNING ee a A ee ee eee 11 Adern seen euere 11 Gat lablessiss seines O 11 1 3 Servo Operating Modes and Control LOOPS ceccccceececcecccccesssssseeeeneeeeeeseceseccasssseeeeeeeeeeeeeeesseecusssesseeeeeeeeseessaesnecssseess 12 Go aide Mt Wore ela MOS ee r a VE ta lb 12 Basic Attributes or Alb Servo Control Loops nee 12 2 Installation Stanup and interlace Touran ea na innen 13 2 12 Download and Install CME 2 SONWare 1 22 22 Es RR ae ee es ee 14 2 2 Special Notes for Windows 7 and Windows 8 4 2 un aaa en 15 A A ee R esse nen 15 Set Up GME 2 15 Tun as administrator nn note aan pagent ceases sce we eaa angen ees geese gestae 15 A cet ee aah as ete ae cere ee EN ee ee 17 2 4GOmMMUNICANONS WIZA oei aa A ehe een cds 18 Gonniquire n enal ONS eanes egia O i A 18 Contiqgure CANOPEN ING RW OUI eassa erros a me u 20 G ntigqure EiherCAT NetWork aueh 22 25
44. COMM C O a ES o O a nee 23 20 Renaine an Anat ee ae a era ee 24 27 CME 2 IMeH ACS TOUR E 25 TOO De Re A E Re 25 Menut Bar seat as nat 26 FUNCIONA DIAG AMen a nei riet rise 28 CAN Information and Status Bat isens nann cd 29 3 AMDINER SOLU wise 2 2 ee ee esse 30 D6 ISO CLE TOC CCUING ne TO 31 Warnings aNd NOolfes austria 31 4 A AAA A II A A e 36 PP eeneemRhE Berne 37 de Change Basic Sel Sellings sus asien ee io in 38 A A eet catebione 42 9 les o AAA NEEE E aE Eaa AEAEE aE E Eaa EKA EEEN aaia EE aE Eds 44 5 1 Nolon Feedback Screen OVER A Aa 45 5 2 Load Motor Feedback Brake Settings from Flia ee ae 47 Dude ROAY MOr Pafamelels re en een O O 48 54 Lnear Motor Para Meis ee AAA AAA E Teenage 49 5 5 Feedback Paramelers Rotary ernten ee aaa a aa a a ea aia 50 SO Foe oa k Parameters LIC cs ee Pa ane ta ave E ame E 51 9 74 Feedback A E RN RITTER 52 5 8 Brake Stop Parameleiszassne near el at eN 53 99 Gale lale A ee 55 6 Digital Inputs and Oulp ls aa 56 6 12 DI a A ee ne ea ae tae eye ETE ee REAL 57 8 2 Dig al OUDS sa pan O E rm a ira ene oa reee eno 60 5 3 GUStiOm Event Tiggered OPE A ee nee E RER 62 6 4 Cusiom Trajectory Status Triggered QUIPUE ia A A A A ote E a 65 6 02 GUsSiOm Position Tnagered OUD Ltd ccoo ln iaa 66 6 6 Synchronizing PWM Switching Frequency cccccccseeeeeeeecceeeeseeeeeeceaeeaeeeeeeeeaeaaeeeeeeeeaeaaaeeeeeeeaeaaaeeeeeessaaeeeeessssaaseeeeseessaeaes 67 A A O esuhei AIARA A ET 67 Analog Motor T
45. Custom Time and Amplitude can be set manually Copley Controls 184 CME 2 User Guide Filters 16 8 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 o1 bb QQ N Connect the accelerometer analog output to Copley drive s Analog and on the signal input as in the diagram below Accelerometer Copley Drive Analog Devices 401105 On CME 2 click the Scope Tool Al Select the Measurement tab choose a channel select Voltage then Analog Command Perform a move After the move is complete measure Tm 1 Fm which is the period of mechanical oscillation Using CME 2 to Monitor Following Error Monitor the following error using CME 2 s scope option Begin with a Copley drive operational and controlled by CME 2 1 2 3 4 185 On CME 2 click the Scope Tool Al Select the Measurement tab choose a channel select Position then Following Error Perform a move After the move is complete measure Tm 1 Fm which is the period of mechanical oscillation Copley Controls CHAPTER 17 DATA FIRMWARE AND LOGS CME 2 User Guide Data Firmware and Logs 17 1 Amplifier RAM and Flash Memory Amplifier RAM e Volatile Contents erased when amplifier is reset or powered off e Initial contents read from flash on power up Contents then updated
46. Following for less following error 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 When the position loop has been tuned the status indicator turns green and the status box contains instructions for the next step Auto Tune Position Loop Tune Move Type _ S Curve Vif 100 optimal s o Trap Best Settling Best Following Done Gains Press finish to save tuning Pp 5600 values and exit vf 4915 Aff 1229 Finish Cancel Click Finish See the reminder Tuning values Changed New gains must be saved to flash after verification Click OK gt On the CME 2 Main screen click Save to Flash Copley Controls CHAPTER 12 STEPPER TUNING CME 2 User Guide Stepper Tuning 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 and Detent Compensation Gain It also describes the screen used in stepper mode to set Position Limits When a stepper amplifier is used in servo mode it operates as a true closed loop servo amplifier controlling a stepper motor After putting the stepper amplifier into servo mode set it up and tune it just as you would a servo amplifier
47. K ee O 133 POSON WIP a 133 POM OWI ETO I Fauls anne a a a RE RR OBERSTE DEN 133 Copley Controls 12 13 14 15 16 17 Copley Controls CME 2 User Guide ROO WINE OS VV GRINS aa 5 scsi ee se ee ee ta 133 P sition and Velocity Tracking Windows At er euere erbeten 134 os Faull Detals a naar eier 134 11 82 Auto Tune all Loops tor Einear Motors u ee ee 135 SEPPE TONI Geste ee ra a ee eb Eee Be ae eh ee Bee El el ea Ba ne 140 12 12 S epper MOLOr Suppo nee ea erat 141 12 2 Posion mis Stepper Ampliier s acne titi 141 Parmele ranan E E nee 141 Bo Mic dacs sever ri ob ert E A a O E 141 12 3 EnCOder Conoco aen a A ee einer 143 12 4 DelenE Sompensallon ali een rE E N een een tddi 144 A A A TN 145 13 1 OVERVIEW AAA A AAA AA AAA 146 1352 Apsol te Encoder Call Dall Oli a ats lala dilataci n 148 Mechanical HOMINO sotano coa 148 A seems eurer 148 COREL A er Re a Re see es ee asle 150 Cee ajo Mea O aL A O oO a a a a a a 151 142 Status Indicators and Messages maisa Eee een ande dosel ter rege 151 14 32 Gontrol FanelMonltor are ei ee eier 153 Monto WAALS Srta alii nio a 153 144 Contool FUNCIONS A nn ee sets 154 14 5 OC Mode aus ireland is ed ii e ISS 155 sl PP o A 157 TO OVGIVICW nee A ao 158 15 2 Menu PISA and Contorno dis esoo lolo luego a llos spots 159 EIS MEN een 159 Pile MENU re a 159 DISNEY seele A E eed A dete A A ae 159 Trace Display ZOOM era ee idilio lia 159 CORO ee ed ee ee ee ee ee 160 15 3
48. ME 2 User Guide Motor Phasing Auto Phase Example Stepper Amplifier with Encoder in Stepper Mode 1 2 3 4 5 6 7 97 Verify that the Enable Input is not activated and that HV power is applied te Click Auto Phase to open the Auto Phase Motor Direction Setup screen Auto Phase E Motor Direction Setup Move the motor in the direction that you want to be positive Press Next when done Motor Actual Position 0 counts Move the motor in the direction you wish to be considered positive Activate the Enable Input Click Next to open the Auto Phase Motor Wiring Setup screen g Auto Phase a Motor Wiring Setup The software will now micro step the motor Make sure the motor is free to move Press Start when ready Auto Phase Current 0 411 A Increment Rate 90 elec deg s Motor Actual Position Ready Click Start to begin motor wiring setup with default values After successful motor wiring setup the message Test Complete appears Click Finish to close the screen and save values to flash memory Copley Controls Motor Phasing CME 2 User Guide Auto Phase Example Stepper Amplifier with Encoder in Servo Mode 1 Verify that the Enable Input is not activated and that HV power is applied 2 te Click Auto Phase to open the Auto Phase Motor Direction Setup screen RETA E C Auto Phase en Motor Direction Setup Move the motor in the direction that you want to be positive Press Next when
49. Motor Feedback screen is not saved in this file eat Restore motor data Restores only motor data from a disk file with a ccm filename extension from disk amplifier flash the motor feedback parameters are flash only Saves the contents of the Motor Feedback screen from to amplifier flash mb Save motor data to memory Amplifier data that is not represented on the Motor Feedback screen is flash not saved Can be used to assure that all changes are saved to flash without closing the Motor Feedback screen Restores only motor data from amplifier flash memory to the PC Amplifier data all Restore motor data that is not represented on the Motor Feedback screen is not affected Can be from flash used before closing the Motor Data screen to restore settings to the previously saved values Copley Controls 188 CME 2 User Guide Data Firmware and Logs 17 3 Multi Axis Data Tools The descriptions in this section only apply to multi axis drives XE2 BE2 etc Copy Axis CME 2 allows one axis to be copied to another This feature allows quick set up of multiple axes since only one axis needs to be set up The Copy Axis operation copies all RAM Flash and Flash Only parameters to the other axis From the menu on the Main screen select File gt Copy Axis This will display the Copy Axis screen gt Copy Axis From Axis A 7 To Axis B Copy to Flash OK Cancel Select the source and destination axes the
50. NING DANGER Hazardous voltages 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 can be used while the amplifier is under CAN or EtherCAT control However some extreme changes made with CME 2 could cause unexpected or uncontrolled motion Failure to heed these warnings can cause equipment damage injury or death Spinning motor with power off may damage amplifier Do not spin motors with power off Voltages generated by a motor can damage an amplifier Failure to heed this warning can cause equipment damage Copley Controls Amplifier Setup CME 2 User Guide OR OR Prepare for setup Understand this procedure s Warnings and Notes 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 Start CME 2 and enter Basic Setup parameters Double click CME 2 icon on the Windows desktop to start CME 2 If necessary Connect to an Amplifier from the list in the Copley Neighborhood tree asf If the Basic Setup screen does not appear click the Basic Setup button Choose In most cases click Change Settings to Change Basic Setup Change Settings Settings Then proceed to Step 3 of this Setup Procedure
51. Parameter An external controller can write to this parameter using any of several protocols and corresponding parameter IDs Copley ASCII Interface or the Copley Indexer 2 Program ID 0x128 CANopen and EtherCAT Index 0x2371 and MACRO l variable 0x528 See the Copley ASCII Interface Programmer s Guide the Copley Indexer 2 Program User Guide or the Copley CANopen Programmer s Guide 3 Optionally set controls Use Absolute Value of Key If a velocity or position value is chosen for the Key Parameter and this option Parameter is set the Key Parameter is interpreted as an absolute value Disable Gain Scheduling When this option is set the scheduled gain adjustments do not take place Until Axis is Referenced until the axis is referenced homed amp Select the gains that you wish to adjust by schedule The choices are Pp Vp Vi and Current Offset A For each gain you select a column will be enabled in the Gain Scheduling Table 9 Continue with Set Up Gain Scheduling Tables 203 Copley Controls Gains Scheduling CME 2 User Guide 19 3 Set Up Gain Scheduling Tables On the Gain Scheduling screen open the Table tab G Gain Scheduling File Edit P Loop Pp Y Loop Vp V Loop Vi Current Offset A Restores configuration and table from amplifier flash to PC This operation overwrites all data on the Gains Scheduling screen 1 Onthe Gain Scheduling screen open the Table tab Copley Controls 204
52. Velocity Loop 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 The velocity loop feedback signal is always from the motor feedback device even when an additional encoder is attached to the load The error signal is then processed using the integral and proportional gains to produce a current command Programmable digital filters are provided on both the input and output command signals Velocity Loop en gt Velocity Limiter Command FR Current Command gt Velocity Integral Gain Vi Limited 4 2 ta u Welbert Velocity Proportional Gain Vp Filter Limits e Velocity e Acceleration Feedback Derived Velocity e Deceleration e Emergency Stop Deceleration Not used w hen velocity loop is controlled by position loop See Velocity Loop Limits for details Inputs In velocity mode the velocity command comes from one of the following e The amplifiers analog or PWM inputs e A CANopen network via the amplifiers CAN interface e A Copley Virtual Motion CVM control program e The amplifiers internal function generator In position mode the velocity command is generated by the position loop Velo
53. aaeesasseueeeeeeseeeeeeeeaaaaeaasaeeeeeeeeeeeeeeesaaaagansess 116 Current Loop Diagramm insel aaa 116 A DES a A Me N ee O ee 116 OS ee ee a ee A E ee es 116 Eins es ee ee ee ee ee ee ee 116 Curent Loop GaS os nassen ses e ES 117 Gurrent LHOP QUIBUL see io 117 11 43 Velocity Loop Sel and LUNDO rien es eigenen riot G 118 11 5 Notes on the Velocity Mode and Velocity Loop rn a ea 121 Velocity LOOP DIGG AIM escort settee disc 121 PS iS A A A A A Ac 121 Velacily L09p LM see a aeanoea 121 Diagram Effects of Limits on Velocity COMMANG ccccccseeeeeeeeeeeeeeeeeeeeeeeeaeseceeeeeeaeaaeeeeeeeesaaaeeeeeeesaaaseeeeeeessaesseeeeeessaeaes 123 Velocity Loop Gans ea ee cg was Me atleast ees 123 Veloci Gans SI a sat ee ee ee N ee 123 Velocity OOD FIEIS aan ee ee ep are ede A A oh emer 123 Mal A PR er RIEDEL 123 Proper Tracking Over TIMO tna ES ENDESA AE NAAA REA 123 Velocity Tracking MINCE WUTC saci ai 124 11 6 Pos lon LOOP Setup AMG TUNNO cana ee ai een ee 125 A ee en een es 127 DESENPION ra RI 127 11 7 Notes on the Position Mode and Position Loop uus444ss04nnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnennnnsnnnernnnnen nn 132 Postion Loop Diagram as zehn ee an 132 Trajectory LIMIS cnt aida aaa 132 Position Loop Inputs From the Trajectory Generator ccccccccccceeeeeeeeeeeaeeeeeeeeeeaaeaeeeeeeeesaaaeeeeeeeeeaaaceeeeeeesaaaneeeeeeeseaeaes 132 POS OR OOM GAINS Sa Ne ee ne ee 133 eco Loop FECODEC
54. able 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 involves the basic steps outlined below Details follow in the chapter Storage Limits The maximum number of lines that can be stored in the Gain Scheduling Table is 1000 A typical Gain Schedule Table will contain far fewer lines The number of Gain Scheduling Table lines is also limited by the amount of CVM memory space available in the amplifier A Gain Scheduling Table shares that space with CVM programs and Camming Tables Therefore the maximum number of Gain Schedule Table lines will decrease if CVM programs or Camming Tables are stored in the amplifier The Gain Scheduling screen Tables tab displays the percentage of amplifier memory used CVM memory usage 1 Copley Controls 202 CME 2 User Guide Gains Scheduling 19 2 Configure Gain Scheduling 1 From the menu on Main screen choose Amplifier gt Gain Scheduling Gain Scheduling File Edit Key Parameter Disable Gain Scheduling Use Absolute Value of Key Parameter Disable Gain Scheduling Until Axis is Referenced Select Gains E Position Loop Pp Velocity Loop Vp Velocity Loop Vi E Current Loop Offset 2 Choose the Key Parameter Key Parameter Description Disable Gain Scheduling Disable gain scheduling Use Written
55. alog 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 Scaling controls the input to command ratio allowing the use of an optimal command range for any given input voltage signal range For example in current mode with default scaling 10 Vdc of input generates a command equal to the amplifier s peak current output 5 Vdc equals half of that Scaling could also be useful if for example the signal source generates a signal range between 0 and 10 Vdc but the command range only requires 7 5 Vdc of input In this case scaling allows the amplifier to equate 7 5 Vdc with the amplifier s peak current in current mode or maximum velocity in velocity mode increasing the resolution of control Dead Band To protect against unintended response to low level line noise or interference the amplifier can be programmed with a dead band to condition the response to the input signal voltage The amplifier treats anything within the dead band ranges as zero and subtracts the dead band value from all other values For instance with a dead band of 100 mV the amplifier ignores signals between 100 mV and 100 mV and treats 1
56. alues is often referred to as tuning the loop Output The loop generates a control signal This signal can be used as the command signal to another control loop or the input to a power amplifier For more information on using CME 2 to set up and tune control loops see Control Loops Copley Controls 12 CHAPTER 2 INSTALLATION STARTUP AND INTERFACE TOUR Installation Startup and Interface Tour CME 2 User Guide 2 1 Download and Install CME 2 Software 1 Navigate to http www copleycontrols com Motion Downloads index html Select CME 2 to start the download 2 Navigate to the folder where CME 2 was downloaded to and extract the contents of CME2 zip 3 Run Setup exe and follow the instructions on the installer screens We recommend accepting all default installation values Copley Controls 14 CME 2 User Guide Installation Startup and Interface Tour 2 2 Special Notes for Windows 7 and Windows 8 Installer When the installer starts Windows will display a dialog asking for permission to make changes to your computer Click the button to allow the installer to continue and CME 2 will be installed properly Set up CME 2 to run as administrator On some versions of Windows 7 and Windows 8 CME 2 will have to be set up to run as administrator to access the communications drivers serial CANopen EtherCAT wae Right click the CME 2 icon on the desktop 2 Choose Properties from the pop up menu Open Troubles
57. ameter Description Amplitude 10 of continuous current value Frequency 100 Hz Settings Tab Channel 1 Commanded current green Channel 2 Actual current white 4 Amplitude 0 47 A Verify that the Amplitude value is not excessive for the motor 111 Copley Controls Control Loops CME 2 User Guide 9 Str Click Start 6 Current Cp 2897 Ci 285 On the Gains tab adjust current loop proportional gain Cp 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 Adjust current loop integral gain Ci until desired settling time is obtained sip Press Stop to stop the function generator aed On the Main screen click Save to Flash to avoid losing the changes Copley Controls 112 CME 2 User Guide Control Loops 11 2 Current Loop Auto Tune 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 Calculate Click Loop to open the Current Loop mol screen PQ 7 SR A eae Current Offse
58. ase ca lirica aneren aeaaea aaa agai ena tanai Aana aeda da dean dustttodGhartatitcmaivetucaasiencounnvoneeae 211 OVESEN A a aa a a a II AO 212 Formulas and AO MAN Operation iia 212 APplcato Example cai ed 213 Homing MEMOS ect vanes owas desi entvecateusseesswce E ssavavweudensecs veneacustdebiaseucneyeusudeeuecsscussaxeedcnie 215 OVERVIEW ae A A 216 Roming Diagrami Legends RO id 216 Homing Meihod DESC PUNA Si os 217 Sel current DOSITON AS Home btt dic ee ee 217 NEE IHR tilda a detec ce Pan A E A AA At doi 217 TOS 218 ERE SMC A o no 219 HAS ODA AAA A tennineatues 220 Elite Ol taa ls lo gt sat ea ae es en S 221 A A O A A A A des 222 ONE e O S 223 HOME SWILCR II TO MSX ali ee ee O E 224 CA e O A 225 DDD MOMO uns at 226 Lower Home Outside Index cn an A nero 227 Lower Homelnside Inden cl cad een onen 228 Upper Home Outside Mas nen ee 229 Upper Home Inside Mdo ae aaa ia 230 ASEI Commands SerlalConhlrole an teen ae et steel cele Oia lied reece ved 231 Copley ASCII Mert AGC ae ee ee cs 232 CME 2 ASC Command Line lied aCe TOO luisana acd A AAEE 232 SIMglesAMIS Se al CONMECH ON air fest pete eedacead cdots ress es ea eslan Jansen 233 MulteDrop serial B nneelionss seen nee ee eisen 233 B amp B USB 10 Serlal Adabel a 234 Recommended DEVICE anne de eier 235 A ae eek reines este 235 5 Copley Controls About This Manual About This Manual Related Documentation e Indexer 2 Program User Guide ASCII Interface Programmer
59. ated before the index pulse an error is generated O Index Pulse 217 Copley Controls Homing Methods CME 2 User Guide 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 Positive Limit Switch ce 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 8 7 Negative Limit Switch A Copley Controls 218 CME 2 User Guide Homing Methods 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 HF zur gt a 8 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 Initial direction of motion is negative if the negative limit switch is inactive shown here as low Negative Limit Switch Index Pulse 219 Copley Controls Homing Methods CME 2 User Guide 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 h
60. ation velocity Brake Ouptput ee Enable ee Pl delay Power Section Brake Stop response time Brake fStop delay time 10 ms BrakeStop activation velocity 6 rpm PWM delay brake stop response time 100 ms Set Defaults Motor Wiring Detection a A Eee a o Parameter Description Brake Stop Delay Time Range of accepted values O to 10 000 mS Brake Activation Velocity Range of accepted values O to encoder resolution dependent limit rom mm s for linear motor PWM Delay Brake Stop Range of accepted values O to 10 000 mS Response Time Motor Feedback CME 2 User Guide SetDefaults Sets the three brake parameters to defaults values based on the motor data nn Displays the Motor Wiring Detection screen A Motor Wiring Detection On the Plus Family of drives the amplifier can check for a disconnected motor Upon enable the amplifier will apply current to the motor windings while keeping the brake engaged for the brake hold time If the current vector cannot be applied then a motor disconnected fault will occur and the brake will not be released If the motor is connected the brake will be released after the brake hold time expires Be Motor Wiring Detection Enable Input Brake Output Motor Check Current I I Brake Hold Time on Enable Brake Hold Time On Enable Motor Check Current Set Defaults Brake Hold Time on Enable The time during which the amplifier is enable
61. avel limits that take effect after homing Software limits Negative operation Software limits Deceleration rate used to stop a motor when approaching a software Deceleration Rate limit Software limits Disable Disables the use of software limits by setting both limits to zero Method Homing method See Homing Method Descriptions Direction of Motion Initial direction of motion for the homing method Pos or Neg Fast Velocity The velocity used to find a limit or home switch Also used when moving to an offset position or a resolver or Servo Tube index position Slow Velocity The velocity used to find a switch edge incremental or analog encoder index pulse or hard stop Accel Decel The acceleration and deceleration rate used during homing Offset Execute a move of this distance after the reference is found Set actual position to O and call the new position home Hard stop home is reached when the amplifier outputs the homing Current Limit Current Delay Time Current Limit continuously for the time specified in the Delay Time Test without home Selecting this option and pressing the Home Button tests the adjusted adjustments home position without making any changes to the saved home position The resulting homing offset is reported in the Homing Adjustment text field O lt m No C wn D G el O Home Starts the homing sequence using the settings shown on the screen Stop Stops the homing seq
62. ch EEE Direction of Motion Negative Home is the negative edge of a momentary home switch Initial direction of motion is negative If the initial motion leads away from the home switch the axis reverses on encountering the negative limit switch then if a positive limit switch is activated before the home switch an error is A oy Qs Home Switch A m Negative Limit Switch Zu y H 225 Copley Controls Homing Methods CME 2 User Guide 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 gt Home Switch o VA Positive Limit Switch Direction of Motion Negative Home is the positive edge of momentary home switch Initial direction of motion is negative if the home switch is inactive If the initial motion leads away from the home switch the axis reverses on encountering the negative limit switch then if a positive limit switch is activated before the home switch an error is generated O 4 Home Switch e Ho o Negative Limit Switch ASS Copley Controls 226 CME 2 User Guide Homing Methods Lower Home Outside Index Direction of Motion Positive Home is the first index pulse on the negative side of
63. cheduling Opens Gain Scheduling screen Gains Scheduling Copley Controls CME 2 User Guide Installation Startup and Interface Tour Menu _ Selection Description _____ For More Information Tools Communications Starts sequence of prompts to set Communications Wizard Wizard up communications Communications Opens Communications Log Communications Log Log Download Starts prompts to download Firmware Download Firmware firmware from disk to amplifier Download CPLD Starts prompts to download PLD Program code from disk to amplifier Manual Phase Phase Opens Manual Phase tool Manual Phase tool Manual Phase View E Files Et Trace Viewer window Scope Trace Files I O Line States Opens l O Line States window showing high low status of the amplifiers inputs and outputs CME 2 Lock Unlock Opens screen for locking and Lock Unlock CME unlocking CME 2 functionality ASCII Command Opens screen to accept ASCII Copley ASCII Interface Line format commands CME 2 User Guide Opens this manual All Documents Opens the Doc folder in the CME 2 installation folder typically c Program Files Copley Motion CME 2 Doc This folder contains all of the related documents that were installed with CME 2 Web Opens default web browser with pages from Copley Controls website Software Web Software Web Page Opens latest CME 2 release notes in a text viewer Notes About o Displays CME 2 version information 2
64. cifies how long an input must remain stable at a new state before the amplifier recognizes the Time state Increase to prevent multiple triggering caused by switch bounce upon switch closures Range 0 to 10 000 mS Debounce does not affect inputs that have been configured as PWM Pulse and Direction or Quadrature control inputs IN1 INn Select the function for the input 57 Copley Controls Digital Inputs and Outputs CME 2 User Guide Hold position when limit switch is active Available in position mode only When one or more inputs are configured as a limit switch NEG Limit HI Inhibits NEG Limit LO Inhibits POS Limit HI Inhibits or POS Limit LO Inhibits The Hold position option prevents any motion while a limit switch is active This option uses the Abort Deceleration rate to stop the motor as described in Trajectory Limits CAUTION If the amplifier is switched back to current or velocity mode with this option selected the limit switches will no longer function Restore Defaults Restores all inputs and outputs to factory defaults Copley Controls 98 CME 2 User Guide Digital Inputs and Outputs Description AMP Enable A low input will enable the amplifier LO Enables with clear faults Any transition will clear latched faults and outputs AMP Enable A High input will enable the amplifier HI Enables with clear faults Any transition will clear latched faults and outputs AMP Enable A low input will enable
65. city Loop Limits The velocity command is limited based on the following set of parameters designed to protect the motor and or the mechanical system Limiter Description Velocity Limit Sets the maximum velocity command input to the velocity loop Acceleration Limits the maximum acceleration rate of the commanded velocity input to the velocity loop Limit This limit is used in velocity mode only In position mode the trajectory generator handles acceleration limiting Deceleration Limits the maximum deceleration rate of the commanded velocity input to the velocity loop Limit This limit is used in velocity mode only In position mode the trajectory generator handles deceleration limiting 121 Copley Controls Control Loops CME 2 User Guide Fast Stop Specifies the deceleration rate used by the velocity loop when the amplifier is hardware Ramp disabled Fast stop ramp is not used when amplifier is software disabled Ifthe brake output is active the fast stop ramp is used to decelerate the motor before applying the brake Note that Fast Stop Ramp is used only in velocity mode In position mode the trajectory generator handles controlled stopping of the motor There is one exception if a non latched following error occurs in position mode then the amplifier drops into velocity mode and the Fast Stop Ramp is used Copley Controls 122 CME 2 User Guide Control Loops Diagram Effects of Limits on Velocity Command The foll
66. creasing the duty cycle toward 100 commands a positive output and decreasing the duty cycle toward zero commands a negative output a Decreasing Duty Cycle Increasing Duty Cycle 3 PWM Input 50 Duty Cycle Amplifier Output 0 Max The command can be inverted so that increased duty cycle commands negative output and vice versa 100 Duty Cycle 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 100 100 Duty Cycle Duty Cycle PWM Input Direction Input Amplifier Output Failsafe Protection from 0 or 100 Duty Cycle Commands In both formats the amplifier can be programmed to interpret O or 100 duty cycle as a zero command providing a measure of safety in case of controller failure or cable break Copley Controls 74 CME 2 User Guide Command Inputs 7 3 Digital Position Input Settings init Click the Digital Input button on the Main Screen Q Digital Input Input Config Control Input Increment Position on Rising Edge 5 Pulse Up Pulse Down Falling Edge gt Quadrature Stepping Resolution 1 Input Pulses 1 Output Coun
67. creating amplifier and motor data files off line A new virtual amplifier can be created based on a virtual amplifier template file ccv or from an existing ccx file CME 2 includes a set of ccv files for each model that is supported G CME 2 V6 0 AEP 090 18 gt File Amplifier Tools Help Select the Virtual Amplifier node from the Copley Neighborhood This will display the Open Virtual Amplifier screen Open Virtual Amplifier Choose the method you want to use to create the virtual amplifier Create new amplifier file Open existing amplifier file E ee re 2 Create new amplifier file e Select Create new amplifier and click OK e When prompted select the ccv that represents the appropriate drive model e Click Open The Basic Setup screen will be displayed e Motor and amplifier values may now be viewed entered and adjusted Open existing amplifier file e Select Open existing amplifier file and click OK e When prompted select the appropriate ccx file e Click Open e Motor and amplifier values may now be viewed entered and adjusted Copley Controls 200 CHAPTER 19 GAINS SCHEDULING Gains Scheduling CME 2 User Guide 19 1 Overview 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 T
68. d but the brake is engaged and the current is applied to the motor windings Units mS Motor Check Current The amount of current to apply to the motor windings Units 0 01 A Set Defaults Sets the motor wiring detection parameters to zero Copley Controls 54 Calculate The Calculate function uses the motor and feedback data to calculate initial gains and limits These can be modified to fine tune the amplifier Follow the steps below 1 El Calcite Click Calculate to calculate and display settings Calculated Amplifier Settings Current Loop Cp Gain Current Loop Ci Gain Peak Current Limit Continuous Current Limit I2T Time Limit Current Loop Offset Current Ramp Programmed Current Velocity Loop Vp Gain Velocity Loop Vi Gain Velocity Integral Drain Velocity Loop Velocity Limit Velocity Loop Accel Decel Fast Stop Velocity Tracking Window Velocity Tracking Time 2 Verify the peak current limit continuous current limit and velocity loop velocity limit lf one or more of these values seems inappropriate click Cancel and check Peak Torque or Force Continuous Torque or Force Velocity Limit and Torque or Force Constant Correct them if needed See Rotary Motor Parameters or Linear Motor Parameters If the Motor Feedback values were correct but the peak current limit continuous current limit or velocity loop velocity limit values are not optimal for the application change these li
69. d Flash Memo Visio 187 A 187 A nn y ne E A ne ee A E eee 187 17 2 Dal2 M an 398Ment 1005 een Beer elek 188 Ampere ee ea ES 188 CME 2 User Guide Moton Feedback Screenzaszu n aeg 188 1 23 MURAIS Data TOOS es di Bern hen 189 CODY AXIS a ea een mess 189 Save Mes Ole MAS Si ee ae ee Bee en 189 174 O A 80 UL 8 ALO y PORC ACA S 191 SE AA nn nun esetnel ie 191 Restore DIVE COniquralO Mirian ile ie ai 191 17o CODY DIVE Dala a een 192 17 6 Save MACRO File for Delta Tau Controllers cccccccccceccccceaeeneeseeeeeeeeeeeeeeeesaaaeeesdeeeeeeeeeeeeesesaaaaaeaseeeeeeeeeeseeesesaaaaaasess 193 17 7 LESER U NISEKEMER is ee A AA AA AA Seesen 194 17 8 Fiimware DOWNload reiasa anaes aE or ataa ae cae de saa ne aca elle 196 IFI ENO LO NA NEE NE 197 17 10 Co0mmunlealons Ligen es ee 198 18 TA AA A NER SNEEEENDEERTUCESEEEIEERDEEETELSEEEHERDER 199 VA ea Bee ee ee een 200 197 Gams CACA UMATA ea 201 AO AAA ea A ee aoo bens nee whence Neid ee werd saat 202 SWOrAgE Eile aa a en see ee A 202 19 2 omlgure Gala SCHEAUUING tdi are 203 19 3 Set Up Gall Scheduling Table ae ae N ee 204 20 Regen Resistor Eonliquration u un as nee een 207 Configure a Standard Copley Controls Regen ReSIStOM ccccccccccssseeseeeeeeeeeeeeeeeeeeeaaaaaeeeeeeeeeeeeeeeeeeesaaaeasceeeneeeeeeeeeseeeaaas 208 Contigure a Custom Regen RESTO air nal 209 AACA Regen Settings nennen A er te ener rere eee 210 ET TIme Limit Algorithm aiseee te
70. dB EE decade Pass Band Ripple Rp 0 1 db Stop Band Ripple Rs 1 db Fc Velocity 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 a200 Hz Low Pass filter to the first velocity loop output filter Copley Controls 178 CME 2 User Guide 179 9 Output Filter 1 Output Filter 2 Output Filter 3 Type Low Pass Family Butterworth 1pole Cut Off Frequency Fc Frequency 2 F2 Pass Band Ripple Rp Stop Band Ripple Rs Filters Copley Controls Filters Current Loop The Loop tab opens a window that shows Current Loop filter choices and a representative curve Modify the settings as needed and press Apply GA 6 Copley Controls E 11 JU Cut Off Frequency Fc Frequency 2 F2 2048 Pass Band Ripple Rp 0 1 db decade Stop Band Ripple Rs 1 db CME 2 User Guide 180 16 5 CME 2 User Guide Filters Standard Filter Types Low Pass Filter Frequencies below the selectable cut off are allowed to pass Example dB High Pass Filter Frequencies above the selectable cut off are allowed to pass Example dB 3dB 40dB decade FE Notch Filter Notch filters allow a bandstop in a range between two selectable frequencies It may be Butterworth no ripple Chebyshev selectable passband
71. der through the Primary feedback channel Position load encoder feedback comes through the multi mode port The ratio of motor turns to position encoder turns is 1 to 10 Motor Feedback Rotary Motor Motor Feedback Grake Stop Motor Encoder 1000 lines 4000 counts Enable Encoder Loss Detection Enable Index Loss Detection Position Encoder 1000 lines 4000 counts Ratio Motor turns 1 Position turns 10 cal al al ae eee o om Copley Controls 52 5 8 Brake Stop Parameters Many control systems employ a brake to hold the axis when the amplifier is disabled On brake equipped systems disabling the amplifier by a hardware or software command starts the following sequence of events e The motor begins to decelerate at Abort Deceleration rate in position mode or Fast Stop Ramp rate in velocity mode At the same time the Brake Stop Delay Time count begins This allows the amplifier to slow the motor before applying the brake e When response time has passed the amplifiers output stages are disabled This delay ensures the brake has time to lock in before disabling the power section e This feature is not available when the amplifier is configured for current mode In this mode the amplifier output turns off and the brake output activates immediately when the disable command is received Motor Feedback Rotary Motor Enable Input mM Brake Stop delay time Speed 08 Brakestop activ
72. device works well but Copley recommends changing the Latency time for faster performance with CME 2 software This value is changed through the Windows Device Manager 1 Open the Device Manager dialog from the Windows Control Panel and expand the Ports COM amp LPT node gt Battenes 9 Bluetooth Radios amp CAN Hardware Kvaser Computer ControlVault Device ca Disk drives Sz Display adapters 4 DVD CD ROM drives 05 Human Interface Devices cg IDE ATA ATAPI controllers E Imaging devices gt Keyboards M Mice and other pointing devices amp Monitors Network adapters FF Ports COM amp LPT 7 Communications Port COMI 7 ECP Printer Port LPT1 17 RS 232 Port COM2 DD Processors H Smart card readers x Sound video and game controllers L Storage controllers KM System devices 2 Select the COM port that is used by the USB to Serial Adapter refer to manufacturer s documentation for details 3 Right click that port and select Properties from the pop up menu This will open the device properties B amp B USB to Serial Adapter CME 2 User Guide R5 232 Port COM Device ype Ports COM amp LPT Manufacturer B amp B Electronics Location on Model 232U5B59M Device status This device is working property 4 Select the Port Settings tab then click the Advanced button 5 232 Port COM2 Properties Bits per second Data bits Parity Stop bits How control Copley Controls 236
73. dy Motor Actual Position 8426513 counts lt Back Finis Cancel Click Start to start the resolver phase angle setup The message area displays status messages Click Finish to close the screen and save values to flash memory OR to close the screen without saving changes click Cancel If the Auto Phase algorithm does not produce desired results try adjusting the Auto Phase Current and Increment Rate values using the guidelines in Tips for Auto Phase Current and Increment Rate If desired results are not obtained or to confirm results proceed to Manual Phase Copley Controls Motor Phasing CME 2 User Guide Auto Phase Example Stepper Amplifier No Encoder 1 Verify that the Enable Input is not activated and that HV power is applied 2 te Click Auto Phase to open the Auto Phase Motor Direction Setup screen Motor Direction Setup Make sure the motor is free to move Move motor and observe direction Motor direction can be changed by clicking Invert Motor output check box Velocity 100 rpm Ready Acceleration Deceleration Invert Motor Output 3 Hold down Move POS to move the motor in the direction considered positive and observe the direction of movement lf the motor does not move see Troubleshooting the Auto Phase Problems If the motor moved opposite the direction that you wish to program as positive click Invert Motor Output 5 Click OK to save the direction setting Copley Controls 96 C
74. e Differential signals from incremental encoder not connected Motor over temperature switch changes state to indicate an over temperature condition The drive detects that it cannot push current through the motor windings CME 2 User Guide Fault is Corrected When Encoder based phase angle agrees with Hall switch states See Troubleshoot Manual Phase w Encoder and Halls Encoder power returns to specified voltage range Feedback signals stay within specified levels Differential signals connected Temperature switch changes back to normal operating state Bus voltage falls below specified voltage Bus voltage returns to specified limit voltage range Bus voltage exceeds specified voltage limit Bus voltage returns to specified voltage range User set following error threshold exceeded See Following Error Fault Details Output to output output to ground internal Short circuit has been removed PWM bridge fault PWM or other command signal not present Command signal restored Output current IT limit has been exceeded Amplifier is reset and re enabled The motor is reconnected 90 CHAPTER 10 MOTOR PHASING Motor Phasing CME 2 User Guide 10 1 Auto Phase The examples in this chapter show particular amplifier operating modes and motor feedback configurations Some screens and choices may vary from those described here Auto Phase Example Servo Amplifier NOTE The following steps show Auto
75. e Latch Output option Latching an output does not eliminate the risk of unexpected motion with non latched faults Associating a fault with a latched custom configured output does not latch the fault itself After the cause of a non latched fault is corrected the amplifier re enables without operator intervention In DANGER this case motion may re start unexpectedly Failure to heed this warning can cause equipment damage injury or death 5 Click OK to save changes to amplifier RAM and close the screen A latched fault is active For descriptions of these fault events see Faults Current Limited The current output is being limited by the I2T Algorithm or a latched current fault has occurred Voltage Limited Current loop is commanding the full bus voltage in an attempt to control current Commonly occurs when the motor is running as fast as the available bus voltage will allow Attempting to Stop Motor The amplifier while in velocity or position mode has been disabled In velocity mode amplifier is using the Fast Stop Ramp described in Velocity Loop Limits In position mode the amplifier is using the Abort Deceleration rate described in Trajectory Limits The output remains active until the amplifier is re enabled Motor Brake Active Motor brake activated PWM Outputs Disabled The amplifiers PWM outputs are disabled Positive Software Limit Actual position has exceeded the positive software limit setting See Homing Ne
76. e Main screen Latch Fault Y Short Circuit J Amp Over Temperature Y Motor Over Temp Over Voltage Under Voltage Feedback Error Motor Phasing Error Following Error Command Input Fault Optional Faults Restore Defaults CS 2 Select the faults to latch See Fault Descriptions 3 Click OK to close screen and save changes to amplifier RAM 4 a On the Main screen click Save to Flash to avoid losing the changes 89 Copley Controls Faults 9 2 Fault Descriptions Note The list of faults may vary with amplifier model Fault Description Amp Over Temperature Motor Phasing Error Feedback error Motor Over Temp Under Voltage Over Voltage Following Error Short Circuit Detected Command Input Lost Over Current Latched Motor Wiring Disconnected Latched by default Copley Controls Fault Occurs When Amplifier s internal temperature exceeds Amplifier s internal temperature falls specified temperature below specified temperature Encoder based phase angle does not agree with Hall switch states This fault can occur only with brushless motors set up using sinusoidal commutation lt does not occur with resolver feedback or with Halls correction turned off Over current condition detected on output of the internal 5 Vdc supply used to power the feedback Resolver or analog encoder not connected or levels out of toleranc
77. e is the first index pulse to the positive side of the home switch transition Initial direction of motion is negative if the home switch is inactive If a limit switch is activated before the home switch transition an error is generated 5 Index Pulse FE Home Switch 223 Copley Controls Homing Methods CME 2 User Guide 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 C Home Switch E Index Pulse Direction of Motion Negative Home is the first index pulse to the negative side of the home switch transition Initial direction of motion is negative if the home switch is inactive If a limit switch is activated before the home switch transition an error is generated Home Switch IO u BE Index Pulse 1 Copley Controls 224 CME 2 User Guide Homing Methods 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 YH O Home Switch IA ao Positive Limit Swit
78. eliability DANGER Failure to heed these warnings can cause equipment damage injury or death The Phase Initialization function uses as little motion as possible less than 1 3 of one electrical cycle to determine phasing Phase Initialization drives the motor in open loop current mode using microstepping of a current vector 1 Ensure that the motor is free to move for instance make sure the brake is OFF 103 Copley Controls Motor Phasing CME 2 User Guide 2 Ensure that no external force such as gravity will cause the motor to move If it is not practical to eliminate such forces it may be necessary to use the Forced Phase feature later in this procedure 3 Initialize Ph _Iniiaize Phase To phase a motor with an encoder and no Halls click Initialize Phase Observe the status messages under Monitor 4 If the message Phase Initialized appears the phasing of a motor with encoder and no Halls is complete Click OK to close the Manual Phase window 5 Phase Initialize Time 400 m5 et q If the phasing function fails for instance message Phase Initialized is not displayed or if a phasing fault is indicated adjust the phase initialization settings described below and try Step 4 Initialize Phase again Current set to 0 uses IPeak Forced Phase Increment Phase 90 deg 7 Use Offset Initialize Phase Setting Description OOO Used first as a delay allowing amplifier to ramp up cur
79. emperatura Sensor na ee E AA AA eier 68 A a ee ie RE RE et a a Se ee a Sr ee eres eee 68 7 ComMmard Inputs une aa ae ee ea ee ar ee ir 69 7 1 Analog COMMONS a 70 Analog Command A A A N 71 Tor AFAN M OPUS SUIS odio co 73 50 DUY GyCle OMe WISE ratio Deere ee rer 74 Copley Controls 2 CME 2 User Guide 10 11 100 Duly Cycle O ad 74 Failsafe Protection from 0 or 100 Duty Cycle Commands oooooononccnconnnnncccnononnnnnnnnnnnnnnnnnnnnnnonononnnnnnnnnnnnnnnnnnrrrronnnnanannnnnnnns 74 Ta DIgtalPOSton INDUD Selings ai N 75 AUS ee ee a Po ee ee eee ree eee eee 75 Rulse anda Direct ons esse a Rau 76 Count WiC e Rn anna 76 CONTE SN as A A A NE HIER EL EURE O NEBEN EC 76 7 4 sollware Programmed Input SONGS ao 78 Programmed OSI ON vernos tdci a a NE 78 Programmed We lOs a A AAA 79 Programmed OUEN sensata arras aiii ies 79 Network e AAA ee ee ee lee beein edge 81 8 1 CANopen NEIWOTK een een anna Suan 82 8 2 MAC RO NETWORK es ee ee ee ee ee ehe 84 8 32 EINEr GOA NeWOrke esse nee Bene ee ee essen ea EEA 86 EINEIGAT PPP ee ei aiaa i 86 PUPILS sce EEA E a a ne Se ET Be ag face er Re E E Base a Base bee at 87 OVENI OW o o Rn e e a ee eee ee a ae 88 g2 GUIS SCHON OMS OI E PR E SO E O CE PO a A a a e R 90 MOTO PAS IO Oi A E a Ra E aea Ae N 91 OF AOPA te a a a a a a a a a a nee 92 Auto Phase Example ovo Ampie osrin E a E ea 92 Auto Phase Example Stepper Amplifier No Encoder ocrni iaaiiai as a daaar d an eai iniaa aa 96 Auto Phase E
80. en Default 25 ms Gain Detent Gain The Stepper Detent Gain value Default 0 Auto Scale Lock When selected prevents trace display from rescaling during tuning Click Start to begin the tuning Adjust Velocity from 0 until the mechanical system begins to resonate Using a 1 8 degree step motor with 200 full steps this will typically occur at a velocity of 40 70 rpm A Adjust Gain until the resonance increases and then back it down until the resonance is minimized Click Stop to stop the tuning Click Close to close the window gt On the CME 2 Main screen click Save to Flash Copley Controls 144 CHAPTER 13 HOMING Homing 13 1 Overview CME 2 User Guide The Homing screen allows homing to be configured and tested Changes made to this screen get saved to amplifier RAM On amplifiers configured for Absolute encoders calibration can be performed Click the Home button on the Main screen to open the Home screen Home Software Limits Positive Negative Method pre Direction of Motion Positive Negative Fast Velocity Slow Velocity Accel Decel Test without home adjustments Copley Controls Deceleration Rate Offset Current Limit Current Delay Time Following Warning Actual Current Actual Position 1500 counts 234 A 250 ms 2000 counts A O counts counts 146 Homing Parameter Software limits Positive Position of user defined tr
81. er 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 Configure faults as latched unless a specific situation calls for non latched behavior When using non latched faults be sure to safeguard against unexpected motion Latching an output does not eliminate the risk of unexpected motion with non latched faults Associating a fault with a latched custom configured output does not latch the fault itself After the cause of a non latched fault is corrected the amplifier re enables without operator intervention In this case motion may re start unexpectedly For more information See Faults When operating the amplifier as a CAN or EtherCAT node the use of CME 2 or ASCII serial commands may affect operations in progress Using such commands to initiate motion may cause network operations to suspend Operation may restart unexpectedly when the commanded motion is stopped Use equipment as described Operate amplifiers within the specifications provided in the relevant hardware manual or data sheet FAILURE TO HEED THESE WARNINGS CAN CAUSE EQUIPMENT DAMAGE INJURY OR DEATH 7 Copley Controls About this Manual CME 2 User Guide Revision History Revision Date Applies to January 2014 CME 2 Software version 7 0 Changes include updated screen shots information updates and filter data Copley Control
82. eries and Model Optionally choose to Invert Motor Direction Optionally choose the Additional Encoder Option available with certain motor series and choose the appropriate resolution for the optional encoder 1 um or 5 um Basic Setup Motor Options Series STB Y Invert Motor Direction 4J Additional Encoder Option lum 5um lt Back Next gt Cancel Copley Controls 42 CME 2 User Guide 3 Set Operating Mode Options Bas c Setup Operating Mode Options Operating Mode Position Command Source Analog Command Digital Input Source High Speed Inputs Multi mode Port Differential Inputs 4 Set Miscellaneous Options Basic Setup Miscellaneous Options Commutation Mode Trapezoidal Estimated Sinusoidai Use Back EMF For Velo Y elocity Use Hails for Velocity and Position Multi mode Port Differential Input When changes are complete click Finish 5 6 To test basic move capabilities test a move in Jog Mode Test with Load attached 43 Basic Setup Copley Controls CHAPTER 5 MOTOR FEEDBACK CME 2 User Guide Motor Feedback 5 1 Motor Feedback Screen Overview Motor Feedback Rotary Motor Manufacturer Copley Model Number CBL341FE 001 Motor Inertia 0 11976 kg com Torque Constant Number of Poles 0 1401 N m Apk Back emf Constant 14 67 Wk Peak Torque rpm 1 9545 Num Resistance 3 2 27 ohms Continuous Tor que
83. es the RMS value of the output current and thus operates the same way regardless of the output current frequency and wave shape PT current limit een commanded actual h eee VE O oOo NM F OD lt c deme ES O O N A Time S Diagram A At time 0 plot diagram A shows that the actual output current follows the commanded current Note that the current is higher than the continuous current limit setting of 6 A Under this condition the IT Accumulator Variable begins increasing from its initial value of zero Initially the output current linearly increases from 6 A up to 12 A over the course of 1 2 seconds During this same period the IT Accumulator Variable increases in a non linear fashion because of its dependence on the square of the current At about 1 6 seconds the IT Accumulator Variable reaches a values equal to the IT setpoint At this time the amplifier limits the output current to the continuous current limit even though the commanded current remains at 12 A The IT Accumulator Variable value remains constant during 213 Copley Controls I2T Time Limit Algorithm CME 2 User Guide 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 Because the actual current is less
84. es 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 Copley Controls Control Loops CME 2 User Guide 11 3 Notes on the Current Mode and Current Loop 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 This error signal is then processed using the integral and proportional gains to produce a command This command is then applied to the amplifiers power stage Current Loop Current Integral Gain Ci Current Command Current Limiter Limited Current Current Proportional Gain Cp tei Current Offset gt ee Limits Feedback Actual Current e Peak Current e Continuous Current e Peak Current Limit Time Current Loop Inputs e The amplifiers analog or PWM inputs e A CANopen network via the amplifiers CAN interface e A Copley Virtual Motion CVM control program e The amplifiers internal function generator In velocity or position modes the current com
85. f motor power wires Copley Controls 106 CME 2 User Guide Motor Phasing 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 If the error between the encoder count and Hall transition is too large then the Hall phase correction will not be performed and a phase fault will be triggered Test for phase fault problems in the order shown below Data accuracy test 1 Verify the motor s pole count e Apply a current vector at zero Increment Rate to lock motor in position e urn the motor shaft and count the number of distinct locking positions e Calculate the number of poles Poles number of locking positions 2 2 Verify the encoder line count OR a linear motor s magnetic pair length and the encoder resolution Encoder wiring test If the Halls produce good trapezoidal commutation but a phase fault is persistent in sinusoidal commutation mode the encoder is highly suspect e Verify the differential encoder signals e Verify proper twisted shielded cable with good grounding e Disable the amplifier and move the motor manually to test for phase fault e f phase fault only occurs under command of current make sure the motor p
86. figuration 00 53 01 Oc 01 05 COM3 Camming Configuration 00 4a 01 00 11 00 COM3 Amp Desired State in RAM 00 73 01 Oc 00 24 COM3 Amp Desired State in RAM 00 45 01 00 00 1e COM3 Motor Encoder Status 00 78 01 Oc 01 2e COM3 Motor Encoder Status 00 58 02 00 00 00 00 00 COM3 Camming Configuration 00 53 01 Oc 01 05 COM3 5 NM Camming Configuration 00 4a 01 00 11 00 COM3 Amp Desired State in RAM 00 73 01 Oc 00 24 COM3 a y Amp Desired State in RAM 00 45 01 00 00 le COM3 Motor Encoder Status 00 78 01 Oc 01 2e COM3 Motor Encoder Status 00 58 02 00 00 00 00 00 COM3 Camming Configuration 00 53 01 Oc 01 05 COM3 Camming Configuration 00 4a 01 00 11 00 COM3 Amp Desired State in RAM 00 73 01 Oc 00 24 V Enable Logging Enable Event Status Logging Enable Logging When selected logging is enabled and all communications with the exception of status messages are recorded in the log Enable Event Status When selected status messages are included in the log Note that Show Get Logging Variable Cmnds must also be checked to log Event Status commands Show Get Variable When selected Get Variable commands are added to the log Cmds Saves the contents of the Communications Log to a text file Clears the log contents from the PC s RAM Copley Controls 198 CHAPTER 18 VIRTUAL MPLIFIER 199 Copley Controls Virtual Amplifier CME 2 User Guide 18 1 Overview Virtual amplifiers can be used for
87. full turn click Yes For a resolver R version of a Copley Controls amplifier skip to Step 12 For a non resolver amplifier click Next to open the Hall Wiring Setup screen Q Auto Phase Ea Commanded Motor Phase Angle Hall Wiring Setup amp Hall State The software will now micro step the motor Make sure the motor is free to move a z Press Start when ready 120 Auto Phase Current 1 03 A Increment Rate 90 elec deg s re pF Hall States Hall Offset 0 deg Ready Cancel Click Start to begin the Halls wiring setup The message area displays the messages Microstepping Test Complete Motor has been properly phased 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 As the motor moves the Hall lines are decoded for proper commutation Copley Controls 94 CME 2 User Guide Motor Phasing 12 13 14 15 16 95 If the step fails see Halls wiring setup For a resolver R version of a Copley Controls amplifier click Next to open the Resolver Phase Angle Setup screen 2 Auto Phase Ea Feedback Phase Angle Setup l Feedback angle in red Commanded The software will now micro step the motor motor phase angle in black Make sure the motor is free to move Press Start when ready 120 60 Auto Phase Current 2 06 A 180 l 0 EN m an Feedback Offset 0 deg Feedback Angle 56 deg Rea
88. g ability If steps are lost during a move encoder corrections are made during the move but will tend to accumulate during the trajectory profile and become resolved by the end of the move Enc Correction _ Click to open the Encoder Correction screen Q Encoder Correction ls le eae ECp ol Max Step Rate 2 Set the Encoder Correction parameters Parameter Description Proportional gain used to compensate for lost microsteps Default O Max Step Rate Maximum velocity allowed while using ECp to correct position errors Excessive velocity can result in more lost microsteps Default 0 Test Encoder Correction While holding position introduce a position error by rotating the motor shaft by hand NOTE Reduce the holding current slightly if unable to rotate shaft The ECp will act on the error and the motor will settle into position slower than a servo motor but in a reasonable amount of time 143 Copley Controls Stepper Tuning CME 2 User Guide 12 4 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 SLE 4 y p IEEPUIEL AUVORLEU EUREN i eee Lo eee N NEN AN um E Click Detent to open the stepper amplifier Advanced Tuning screen Setting Description SSS Velocity Tuning velocity Default 0 Length of trace interval to be shown on scre
89. gative Software Limit Actual position has exceeded the negative software limit setting See Homing Following Error Following error has reached programmed fault limit See Following Error Faults Following Warning Following error has reached programmed warning limit See Following Error Faults Position has Wrapped The position counters have exceeded the maximum range of 2 _ 291 1 and have wrapped Normal amplifier operation is not affected 63 Copley Controls Digital Inputs and Outputs CME 2 User Guide Velocity Limited The velocity command from analog input PWM input or position loop has exceeded the velocity limit See Velocity Loop Limits Acceleration Limited In velocity mode motor has reached an acceleration or deceleration limit that was set as described in Velocity Loop Limits Pos Outside of Tracking Window The following error has exceeded the programmed value See Position and Velocity Tracking Windows Home Switch Active Axis has contacted the home limit switch In Motion The motor is moving or it has not yet settled after a move The amplifier is settled when it comes within the position tracking window and stays there for the tracking time at the end of a move Once this bit is set it remains set until a new move is started Vel Outside of Tracking Window Difference between target and actual velocity has exceeded the window See Phase not Initialized Amplifier is using Phase Initialization function and phase
90. gs low frequency oscillations may occur thus less current and slower rates may be required If oscillations persist then friction may need to be temporarily added Copley Controls 100 CME 2 User Guide Motor Phasing 10 3 Troubleshooting the Auto Phase Problems Motor direction setup If motor direction setup step failed e Check Encoder or resolver power and signals e Verify that the encoder is differential Contact factory if encoder is single ended e Check shielding for proper grounding Motor wiring setup lf motor wiring setup step failed e Verify that amplifier is disabled Check for mechanical jamming Check for smooth motion with no mechanical jerking Check for good connections to the motor power wires Disconnect motor power wires and measure for proper motor resistance Phase count test If phase count test failed e Verify that in the Motor Feedback screen the following parameters have been set correctly e Number of Poles for rotary motors Verify the motor s pole count with the Data accuracy test e Magnetic Pole Pair Length for linear motors e Encoder Lines or Fundamental Lines for rotary encoders e Encoder Resolution for linear encoders Halls wiring setup If Halls wiring setup step failed e Check Halls power and signals e Check for smooth motion with no mechanical jerking e Check shielding for proper grounding lf the auto phase procedure fails despite these corrective measures see Manual Phase 101 C
91. hes Indexing Point and click to define up to 32 indexes or index sequences Simply select the index sequence and command GO Index sequences can include motion parameter changes dwell times and I O control Any parameter can be assigned to a register for efficient control by a PLC Custom functions can be provided for complex applications Install the Java bean and fill in the blanks Copley also provides a flexible OEM programming environment Copley Virtual Machine assembler debugger enables the development of fast compact control program Cam Tables Camming is an effective way to produce repetitive motion synchronized to an external device A pre defined cam table of slave positions is typically cycled through by a master encoder connected to the drive The drive performs linear interpolation between points to minimize cam table size NOTE The feature descriptions in this manual may not apply to all Copley Controls amplifiers under all configurations Significant differences between amplifier models are noted See the relevant hardware manual or data sheet for more information 11 Copley Controls Introduction CME 2 User Guide 1 3 Servo Operating Modes and Control Loops Servo Operating Modes and Control Loops Copley Controls drives use up to three nested control loops current velocity and position to control a motor in three associated operating modes Stepper drives operated in stepper mode function as traditional
92. hoot compatibility Run with graphics processor gt Open file location fa Run as administrator Restore previous versions Send to gt Cut Copy Create shortcut Delete Rename Properties 15 Copley Controls Installation Startup and Interface Tour CME 2 User Guide 3 Click the Advanced button on the Properties dialog Target location CME 2 Target web Copley Motion CME 2CME2 exe Start in C Program Files 86 Copley Motion CME 2 Shortcut key None Comment 4 Select Run as Administrator Click OK to close the Advanced Properties dialog then OK to close the Properties dialog This option allows you to run this shortcut as an administrator while protecting your computer from Copley Controls 16 CME 2 User Guide Installation Startup and Interface Tour 2 3 Start CME 2 1 Double click the CME 2 shortcut icon on the Windows desktop to start CME 2 2 If communications were set up If communications were not set up already the CME 2 Main Screen opens If there are the Communications Wizard will be displayed as multiple ports Copley Neighborhood will be shown below selected in the tree as shown below gt En C CME 2 V7 0 Beta 17 File Amplifier Tools Help Select device te Serial Ports E de Copley Neighborhood CAN Network ES Virtual Amplifier 5 EtherCAT He ES COMA X Axis n FEB COM2 Y Axis Select the desired drive F
93. idal Digital On Off Off Primary Incremental Secondary Absolute A Rotary Differential Input Position Digital Input 2 Review settings 3 Choose Change Settings OR Load ccx File OF ServoTube Setup OR Cancel 37 Click Change Settings to manually Change Basic Setup Settings If you have a ccx file that was prepared for the amplifier motor combination click Load ccx File and see Data Management Tools To change Basic Setup settings for a ServoTube motor click ServoTube Setup and see ServoTube Setup To accept the displayed settings click Cancel Copley Controls Basic Setup CME 2 User Guide 4 2 Change Basic Setup Settings 1 Change Settings On the Basic Setup screen click Change Settings to manually change all Basic Setup settings Use the Back and Next buttons to navigate screens Screen details vary depending on amplifier model and mode selection 2 Set Motor Options Basic Setup Motor Options Motor Family a Brushless Motor Type Rotary 3 Set Feedback Options i Basic Setup Feedback Options Hall Type Digital r Hall Phase Correction Input Source Motor Feedback Incremental m Primary Secondary Load Feedback Absolute A al E Primary Secondary Load Feedback Type a Rotary Linear Use Load Feedback In Passive Monitor Mode Copley Controls 38 CME 2 User Guide Basic Setup Hall T
94. ion and close the screen Regen Resistor XTLRA 04 gt Custom Resistor View Settings OK Cancel CME 2 User Guide Regen Resistor Configuration Configure a Custom Regen Resistor 1 contre Regen Click Configure Regen to open the Regen Resistor screen XTLRA 03 XTLRA 04 Custom Resistor Configure Gesine Gau 2 Select Custom Resistor and click Configure to enter the custom resistor data Read the information displayed and click OK Regen resistors are subject to potentially high power dissipation depending on the resistor value and the amount of energy being regenerated from the motor and load To ensure safety and reliable operation it is important to select a regen resistor that is appropriate for your application 3 Follow the instructions on step 1 through 5 of the Custom Regen Wizard then click Finish Step 5 Resistance Custom regen resistor configuration is complete Continuous Power Peak Power Press Finish to accept the values entered and save them to the amplifiers RAM and flash Time at Peak Power To change any of the values press Prev 209 Copley Controls Regen Resistor Configuration CME 2 User Guide View Regen Settings Click Configure Regen Settings to open the Regen Settings screen Continuous Power Peak Power 5000 W Time at Peak Power 1000 ms Copley Controls 210 APPENDIX A IT TIME LIMIT ALGORITHM I2T Ti
95. ional gain Pp to minimize following error e On the Gains tab set velocity feed forward Vff and acceleration feed forward Aff to zero e On the Profile tab click Start On the Gains tab adjust position loop proportional gain Pp until best result is obtained e Click Start after each adjustment to test on a new profile move NOTES 1 Too much position loop proportional gain Pp might cause oscillation 2 If a following error occurs open the Control Panel and click Clear Faults Adjust velocity feed forward Vff Velocity feed forward Vff reduces following error in the constant velocity portion of Click in the Vfffield and adjust the value Click Start after each adjustment to test on a new profile move the profile Often a velocity feed forward Vff value of 16384 100 provides best results Copley Controls Control Loops CME 2 User Guide 9 10 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 NOTES 1 If after tuning the position loop the motor makes a low frequency audible noise while enabled but not moving the velocity loop gains Vp and Vi may be lowered to reduce the noise If the gain values are set too low the response to instantaneous rates of change might be reduced i e sl
96. is not initialized Command Input Fault PWM or other command signal e g EtherCAT master not present If Allow 100 Output option is enabled by a setting Bit 3 of Digital Input Command Configuration this fault will not detect a missing PWM command Latched vs Non Latched Custom Event An output that is configured for a custom event can be latched or non latched If a non latched output goes active it will go inactive as soon as the last of the selected events is cleared If a latched output goes active it remains active until at least one of the following actions has been taken e Reset or power cycle the amplifier e Cycle disable and then enable an input that is configured as Enable with Clear Faults or Enable with Reset e Open the Control Panel and press Clear Faults or Reset The latched non latched behavior of an output configured as a custom event is independent of the drive s latched non latched fault Consider the following example OUT3 is configured as a custom event under voltage and latched but the Under Voltage fault on the Configure Faults screen is set to non latched The table below shows the difference in behavior between the output and the drive s fault OUTS Under voltage condition Disables PWM outputs and reports Goes to active state occurs under voltage faults Under voltage condition is Under voltage fault is not reported and Stays active corrected PWM outputs are enabled Copley Contro
97. ity at zero using the velocity loop Resuming Operations After a Non Latched Following Error Fault The clearing of a non latched following error depends on the amplifiers mode of operation Issuing a new trajectory command over the CAN bus or the ASCII interface will clear the fault and return the amplifier to normal operating condition lf the amplifier is receiving position commands from the digital or differential inputs then the amplifier must be disabled and then re enabled using the amplifier s enable input or though software commands After re enabling the amplifier will operate normally Amplifier Response to a Latched Following Error Fault When a latched following error fault occurs the amplifier disables the output PWM stage without first attempting to apply a deceleration rate Resuming Operations After a Latched Following Error Fault A latched following error fault can be cleared using the steps used to clear other latched faults e Power cycle the amplifier e Cycle disable and then enable an enable input that is configured as Enable with Clear Faults or Enable with Reset e Access the CME 2 Control Panel and press Clear Faults or Reset e Clear the fault over the CANopen network or serial bus Copley Controls 134 CME 2 User Guide Control Loops 11 8 Auto Tune all Loops for Linear Motors This feature is only available for use with linear motors Make sure motor is mounted firmly and verify accuracy and completeness of
98. k Synchronization Current Loop Frequency 16 kHz Close Copley Controls 84 CME 2 User Guide Network Configuration Scaling Input Command 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 rom mm sec Default Maximum Velocity value Heart Beat Time Out The frequency at which the drive will produce heartbeat messages This parameter may be set to zero to disable heartbeat production Home Status Bit Use Motor Encoder index Return the primary encoder index state in the home status bit of the MACRO status word Use Home Input The state of any general purpose input configured as a home input will be returned in the home status bit of the MACRO status word Auxiliary Data Registers Defines what type of additional data is transmitted in the Auxiliary data registers of every MACRO response message First Register Digital input Value Secondary Analog Input Value Second Register Analog Input Motor Encoder Position Encoder Enable Position Output When selected position data sent over the MACRO network is shifted up 5 bits to Scaling be compatible with Delta Tau controllers Enable MACRO Network Allows the drive s PWM frequency to be adjusted to allow synchronous operation Synchronization with the MACRO ring Note that changing the PWM Frequency will affect the Current Loop Fre
99. lash Once the calibration is complete the Calibrate button will be disabled until another home sequence is run by clicking the Home button To remove the calibration change the Home Method from Absolute Encoder Immediate Home to some other method and run the home sequence 149 Copley Controls CHAPTER 14 CONTROL PANEL CME 2 User Guide Control Panel 14 1 Control Panel Overview ose Click to open the Control Panel Monitor real time amplifier values Status indicators and operational mode Q Control Panel Monitor Red if fault Safety Enabled Actual Current is active Motor Output Active Hardware Enabled Enabled Bus Voltage Yellow if warning i Software Enabled Enabled Is active Positive Limit Not Active Actual Motor Position 2 Negative Limit Not Active Display error log 2 Software Limits Not Active ve M nn OK Mode Position Digital Input Motion Abort Input Not Active 32 CVM Control Program Not Running Move gt Home Not Referenced Network Status Message box Control functions Control Enable Jog Set Zero Position Disable Clear Faults J Jog mode controls 14 2 Status Indicators and Messages The Status area includes status indicator lights described below and a message box Any red lights indicate that motion will be inhibited States Description Safety State of the safety circuit Enabled or HI LO disabled On amplifiers with safety circuit Mo
100. locity Loop Outputs The output of the velocity loop is a current command used as the input to the current loop 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 123 Copley Controls Control Loops Velocity Tracking Illustration CME 2 User Guide The following diagram illustrates the use of tracking window and time settings in velocity mode Actual Velocity Limited Velocity Tracking Window Tracking EN Time Tracking Window Output Copley Controls 124 CME 2 User Guide Control Loops 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 Calculate Click the P Loop button on the Main screen C Position Loop Trajectory Values Position Loop Values Profile Acceleration Profile Velocity Commanded Velocity Gains Multiplier vi 100 VfF 16384 Fi Drain Pd C Enable PID Following Error Tracking Position Wrap Fault 4000
101. ls 64 CME 2 User Guide Digital Inputs and Outputs 6 4 Custom Trajectory Status Triggered Output Digital outputs can be configured for one or more events in the Trajectory Status OUT 2 Custom Trajectory Status Hi gt Configure Custom Choose Custom Trajectory Status for an output and then click Configure Custom to open the Trajectory Status Triggered Output screen Trajectory Status Triggered Output S Homing Error Referenced Homed Homing In Progress Move Aborted 2 Select one or more events from the list Selections are OR ed together so that any event will cause the output to go active Move Aborted Activate output if move is aborted Trajectory Generator Activate output while trajectory generator is generating a move Running Camming Buffer Error A camming buffer error has occurred 3 Choose Output Active High to have the output go high when active or Output Active Low to have the output go low when active de Click OK to save changes to amplifier RAM and close the screen 65 Copley Controls Digital Inputs and Outputs CME 2 User Guide 6 5 Custom Position Triggered Output OUT 2 Custom Position Triggered Output lo Configure Custom Choose Custom Position Triggered Output for an output and then click Configure Custom to open the In Position Triggered Output screen Position Triggered Output Configuration In Position Window Trigger At Position
102. ls for Velocity Position optionally increase the counts per rev ratio by incrementing the Halls Count Multiplier Motor Halls Hall Count Multiplier 1 Counts per Rev Copley Controls 50 CME 2 User Guide Motor Feedback 5 6 Feedback Parameters Linear Details for serial encoders can be found in the Serial Encoder Guide Feedback Type Parameters Actions 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 Motor Feedback Enable Index Loss Detection Enter the Fundamental Pitch distance between encoder lines see encoder or motor data sheet As indicated by the Fundamental Resolution field Fundamental Pitch divided by four gives Fundamental Resolution The interpolated resolution is the dividend of Fundamental Resolution value Interpolation value Optionally modify the Interpolated Resolution by changing the Interpolation value Motor Feedback Fundamental Pitch Low Frequency Normally used with ServoTube Pole Pitch is the distance between poles in a pole pair as Analog entered in the Magnetic Pole Pair Length field on the Motor tab The interpolated resolution is the dividend of Pole Pitch Counts per pole value expressed in micrometers Optionally modify the resolution by changing the Counts Pole value Click Restore Default to restore default C
103. ltiple 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 aPWM sync input by each slave To configure this an output of the master must be configured as PWM Sync Output and one input on each of the slaves must be configured as PWM Sync Input OUT 4 INA PWM Sync Input 6 7 Analog I O A typical Analog I O screen is shown below Currently only the Xenus Plus single axis drive has analog I O functionality Input Output ol EJ Digital Inputs 1 6 Digital Inputs 7 14 Digital Outputs Analog 10 Analog Motor Temperature Sensor 9 Fault When Above Limit Fault When Below limit Limit 0 mV Actual Voltage 4999 mV Analog Output Mode Manual Programmed Value 0 mV Hold position when limit switch is active Restore Defaults Close 67 Copley Controls Digital Inputs and Outputs CME 2 User Guide Analog Motor Temperature Sensor Enter a voltage limit in mV Fault will occur when voltage is above limit Actual voltage is the sensor reading in mV Analog Motor Temperature Sensor Limit 0 mV Actual Voltage mV 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 Mode Manual v Programmed Value 1 mV When Actual Current is chosen the o
104. mand is generated by the velocity loop Offset The current loop offset is intended for use in applications where there is a constant force applied to or required of the servomotor and the system must control this force Typical applications would be a vertical axis holding against gravity or web tensioning This offset value is summed with the current command before the limiting stage Limits The current command is limited based on the following parameters Limiter Description Peak Current Limit Maximum current that can be generated by the amplifier for a short duration of time This value cannot exceed the peak current rating of the amplifier Continuous Current Maximum current that can be constantly generated by the amplifier Limit IT Time Limit Maximum amount of time that the peak current can be applied to the motor before it must be reduced to the continuous limit or generate a fault For more details see I2T Time Limit Algorithm Note Although the current limits set by the user may exceed the amplifier s internal limits the amplifier operates using both sets of limits in parallel and therefore will not exceed its own internal limits regardless of the values programmed Ramp Rate of change in current command Used to limit jog moves initiated from the Control Panel Jog function in current mode and in advanced Indexer Program functions Copley Controls 116 CME 2 User Guide Control Loops Current Loop Gains Gain
105. me Limit Algorithm CME 2 User Guide Overview The IT current limit algorithm continuously monitors the energy being delivered to the motor using the IT Accumulator Variable The value stored in the I T Accumulator Variable is compared with the IT setpoint that is calculated from the user entered Peak Current Limit IT Time Limit and Continuous Current Limit Whenever the energy delivered to the motor exceeds the IT setpoint the algorithm protects the motor by limiting the output current or generates a fault Formulas and Algorithm Operation Calculating the I T Setpoint Value The IT setpoint value has units of Amperes seconds A S and is calculated from programmed motor data The setpoint is calculated from the Peak Current Limit the IT Time Limit and the Continuous Current Limit as follows IT setpoint Peak Current Limit Continuous Current Limit T Time Limit Algorithm Operation During amplifier operation the I T algorithm periodically updates the IT Accumulator Variable at a rate related to the output current Sampling Frequency The value of the IT Accumulator Variable is incrementally increased for output currents greater than the Continuous Current Limit and is incrementally decreased for output currents less than the Continuous Current Limit The I T Accumulator Variable is not allowed to have a value less than zero and is initialized to zero upon reset or 24 Vdc logic supply power cycle Accumulator Increment F
106. ming Current Limit continuously for the amount of time specified in the Delay Time If a negative limit switch is activated before the hard stop an error is generated Ce Index Pulse ll Hardstop Out to Index Methods in Stepper Mode In Stepnet amplifiers operating in stepper mode with an encoder the hard stop is reached when the following error is exceeded When using hardstop methods in stepper mode do not disable following error 221 Copley Controls Homing Methods CME 2 User Guide 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 zZ _ Direction of Motion Negative Home is the home switch transition Initial direction of motion is negative if the home switch is inactive If a limit switch is activated before the home switch transition an error is generated Ke Home Switch AO Home Switch Copley Controls 222 CME 2 User Guide Homing Methods 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 Home Switch A Index Pulse Direction of Motion Negative Hom
107. mits during the tuning process 3 Save the values into amplifier RAM by clicking OK NOTE When loading motor data from a file if the motor wiring configuration in the motor file does not match the configuration currently stored in the amplifier CME prompts for verification on which configuration to use Select the file configuration by clicking Yes The configuration will be tested as part of Motor Phasing 4 aed On the Main screen click Save to Flash to avoid losing the changes CHAPTER 6 DIGITAL INPUTS AND OUTPUTS CME 2 User Guide Digital Inputs and Outputs 6 1 Digital Inputs uhren Click Input Output on the Main screen A typical screen is shown below Options vary with 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 C3 Input Output Digital Inputs 1 5 Digital Inputs 6 12 Digital Outputs Debounce time CAN address N1 Amp Enable HI Enables With Clear Faults 0 ms Pull down IN2 Not Configured IN3 Not Configured Pull up 5V Not Configured 2 PUR down Not Configured Restore Defaults Hold position setting Indicates input is used as a CAN address bit Parameter Description Pull up 5 V Pulls up the group of inputs up to internal 5 V Pull down Pulls the group of inputs down to internal signal ground Debounce Spe
108. mmand Line Interface Tool As described below the CME 2 ASCII Command Line Interface tool provides a simple way to enter Copley ASCII commands Use the ASCII Command Line Interface to Enter Commands 1 From the Main screen choose Tools gt ASCII Command Line to open the tool G ASCI Command Line Command Response Enter an ASCII Command in the Command field Press the Enter key to send the command to the amplifier Observe the Response field If a value is returned it is preceded by the letter v In the following example the get command was used to retrieve the amplifier RAM value of variable 0x32 actual position G ASCI Command Line Command ig r0x32 Response v 71 4 An error code would be preceded by the letter e TIP To view an error definition hold the mouse pointer over the error number For more information see the Copley ASCII Interface Programmer s Guide and the Copley Amplifier Parameter Dictionary Copley Controls 232 CME 2 User Guide ASCII Commands Serial Control 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 Serial PC PLC or HMI COMport SER CK Serial Cable Kit ehe for ASCII C
109. mmand voltage will move the axis a relative distance equal to the change in voltage from its position when enabled To use the analog position command as an absolute position command the amplifier should be homed every time it is enabled The Homing sequence may be initiated by CAN ASCII serial or CVM Indexer program commands Copley Controls 72 CME 2 User Guide Command Inputs 7 2 PWM Input Settings PWMCommand Click the PWM Command button on the Main screen puntcommand Lo E ES Scaling 10 48 A at 100 duty cycle Input Type 50 Duty Cycle C 100 Duty Cyde Options Invert PWM Input 7 Allow 100 Output Invert Sign Input 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 rom 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 Allow 100 output Overrides the 100 command safety measure See Failsafe Protection from 0 or 100 Duty Cycle Commands Invert Sign Input In 100 duty cycle mode inverts the polarity of the directional input 73 Copley Controls Command Inputs CME 2 User Guide 50 Duty Cycle 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 In
110. n click OK Note that Copy to Flash is selected by default If this option is not selected then the RAM Flash parameters will only be copied to the destination axis RAM while still copying the Flash Only data to the destination axis Flash Save Restore Single Axis CME 2 allows a single axis of data to be saved restored on a multi axis drive This feature is useful when one axis of tuning setup data is common across many multi axis drives but only on one axis The file will be saved as a ccx file Restoring a ccx file to a single axis the file must be written as a single axis otherwise an error will be displayed From the menu on the Main screen select File gt Save As gt Single Axis This will display the save Single Axis screen Select the axis to be saved click OK and then continue with naming and saving the file CH Save Single Axis Save Axis Axis Ai ok cancel 189 Copley Controls Data Firmware and Logs CME 2 User Guide From the menu on the Main screen select File gt Save As gt Single Axis This will display the Restore Single Axis screen Select the axis to restore the file data to click OK then browse to the single axis file CA Restore Single Axis Restore to Axis Copley Controls 190 CME 2 User Guide Data Firmware and Logs 17 4 Drive Configuration The Plus Family of drives Feature set E have the capability of saving restoring the entire drive configuration to a file The d
111. ne of the following actions has been taken e Power cycle the amplifier e Cycle disable and then enable an input that is configured as Enable with Clear Faults or Enable with Reset e Open the Control Panel and press Clear Faults or Reset e Clear the fault over the CANopen network or serial bus A non latched fault will be cleared when the fault condition has been removed This can occur without operator intervention Risk of unexpected motion with non latched faults 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 Configure faults as latched BANGEN unless a specific situation calls for non latched behavior When using non latched faults be sure to safeguard against unexpected motion Failure to heed this warning can cause equipment damage injury or death Example The drive s temperature reaches the fault level The drive reports the fault and disables the PWM output Then the drive temperature falls below the fault level Non latched fault operation The fault is cleared and the amplifiers PWM outputs are enabled without operator intervention Latched fault operation The fault remains active and the drive s PWM outputs remain disabled until the faults are cleared as described above Copley Controls 88 CME 2 User Guide Faults 1 eb Fou Click the Configure Faults button on th
112. ng the CME 2 Set Zero Position function while the amplifier is operating under external control could cause unexpected or uncontrolled motion Failure to heed this warning can cause equipment damage gt WARNING Copley Controls 154 CME 2 User Guide Control Panel 14 5 Jog Mode Jog mode provides a simple means for moving jogging the motor Move Velocity 100 rpm Acceleration 500 rps Deceleration 500 rps 7 Enable Jog Move MEG Move POS To put the amplifier in jog mode select Enable Jog 2 Set up a jog move by setting the following mode specific parameters Current Current Current applied to the motor Limited by current loop Continuous Current Warning Unloaded motors may depending on torque setting ramp up in speed very quickly Velocity Jog Speed Velocity of the jog move Limited by velocity loop Vel Limit Velocity Velocity of the jog move Limited by velocity loop Vel Limit Acceleration limit of the jog move Deceleration limit of the jog move 3 Command the move Current Hold Pos to apply positive current to the motor or hold down Neg to apply negative current to the motor Release the button to command zero current Velocity Hold Jog Pos to command a forward velocity or hold down Jog Neg to command a negative velocity Release the button to command zero velocity disabled motion will not stop on button release Instead it stops when actual position commanded posi
113. nter the new name and click OK to close the screen Copley Controls 24 CME 2 User Guide Installation Startup and Interface Tour 2 7 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 CME 2 V7 0 XE2 230 20 X Ax s Axis A File Amplifier Tools Help Main Menu Ay ad 2 BB aaa a Toolbar Conley e f E i Copley Neighborhood Meighborhood ES Virtual Amplifier p Functional E AA 1 CVM Control Program in non un Axis Selection e Mos Status Bar r Sine Commutation Linear Motor ICANopen over EtherCAT CoE Control F12 To Disable Tool Bar kon Name For More Information ay Basic Setup Basic Setup NN Control Panel Control Panel B Auto Phase Motor Phasing Ki Tune Auto Tune all Loops for Linear Motors Amplifier Properties Save amplifier data to disk call Restore amplifier data from disk Data Management Tools Save amplifier data to flash a Restore amplifier data from flash 25 Copley Controls Installation Startup and Interface Tour CME 2 User Guide Menu Bar Menu Selection Description For More Information Save MACRO File MACRO amplifiers only Saves amplifier setup and tuning parameters in a format that can be read by Delta Tau controllers Data Firmware and Logs Save Drive Saves the contents of amplifier Config
114. ntrols 172 CME 2 User Guide Oscilloscope 15 9 Scope Trace Files The Oscilloscope can save trace data to disk that can be opened later with the Trace Viewer When the save trace data to disk operation is performed CME 2 saves the data in three different files e sco This is a CME 2 format which contains scope settings and trace data e csv This is a standard comma separated value file format that can be imported into spreadsheet software like Microsoft Excel e txt This is a tab separated value file similar to the csv file This is intended to be imported by software that can only read tab separated values The format of the csv and the txt files are identical except for the separator e Column 1 time e Column 2 Trace Channel 1 data e Column 3 Trace Channel 2 data if used e Column n Trace Channel n data if used The trace data is in amplifier units not user units see Parameter Dictionary for units 173 Copley Controls Oscilloscope 15 10 Trace Viewer CME 2 User Guide The Trace Viewer screen displays the contents of sco files All of the trace display features zooming line style etc as well as the measurement functions are available in this screen 1 On the Main screen choose Tools gt View 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 2 Trace Viewer testl sco
115. 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 I TD Home Switch y Positive Limit Switch EJ Index Pulse Direction of Motion Negative Home is the first index pulse on the negative side of the positive edge of a momentary home switch Initial direction of motion is negative if the home switch is inactive If initial motion leads away from the home switch the axis reverses on encountering the negative limit then if a negative limit switch is activated before the home switch an error is generated HH 4 C 9 bane en IF Negative Limit Switch 7 Index Pulse Copley Controls 230 APPENDIX D ASCII COMMANDS SERIAL CONTROL ASCII Commands Serial Control CME 2 User Guide Copley ASCII Interface An amplifiers 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 CME 2 ASCII Co
116. of the Hall switches to determine motor velocity and position Recommended only for medium to high speed applications may run roughly at low speeds Selects the mode for the amplifiers multi mode port e Buffered Motor Encoder The multi mode port functions as a buffered digital encoder output based on the digital encoder input e Emulated Motor Encoder The multi mode port functions as an emulated digital encoder output based on the motor analog encoder or motor resolver e Emulated Position Encoder The multi mode port functions as an emulated digital encoder output based on the position analog encoder e Differential Input The multi mode port functions as a differential command input 6 When changes are complete click Finish 41 Copley Controls Basic Setup CME 2 User Guide 4 3 ServoTube Setup The ServoTube Setup wizard sets up the amplifier for use with the chosen ServoTube motor After the last step in the wizard is completed CME 2 will perform the following actions e Performs the Calculate function to set initial gains and limits e Sets the appropriate programmable digital input as Motor Over Temperature e Sets the proper phasing values e Saves all values to flash e Opens the Control Panel so the user can Test a move in Jog Mode 1 _ ServoTube Setup Click ServoTube Setup to start the Basic Setup wizard Use the Back and Next buttons to move from screen to screen as needed 2 Choose the appropriate S
117. oming 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 yA O Direction of Motion Negative Home is the negative hard stop Direction of motion is negative 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 negative limit switch is activated before the hard stop an error is generated 0 Hardstop Methods in Stepper Mode In Stepnet amplifiers operating in stepper mode with an encoder the hard stop is reached when the following error is exceeded When using hardstop methods in stepper mode do not disable following error Copley Controls 220 CME 2 User Guide Homing Methods 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 AS Index Pulse A EEE BEE Direction of Motion Negative Home is the first index pulse on the positive side of the negative hard stop Initial direction of motion is negative The hard stop is reached when the amplifier outputs the ho
118. on Click the Programmed Position button on the Main screen Relative Trap Absolute S Curve Distance 0 counts Setting Description Move distance relative or location absolute Copley Controls 78 CME 2 User Guide Command Inputs Programmed Velocity Programmes Velocity Click the Programmed Velocity button on the Main screen w Programmed Command kod a x Programmed Velocity Potential for unexpected movement If the Programmed Velocity is set to values other than 0 the motor will move after power up or reset if the amplifier is hardware enabled DANGER Failure to heed this warning can cause equipment damage injury or death Setting Description Programmed Velocity Move velocity Units rom rotary or mm s linear Programmed Current Programmed Current G Programmed Command o Programmed Current Click the Programmed Current button on the Main screen Current Ramp Potential for unexpected movement If the Programmed Current is set to values other than 0 the motor will move after power up or reset if the amplifier is hardware enabled DANGER _ Failure to heed this warning can cause equipment damage injury or death 79 Copley Controls Command Inputs CME 2 User Guide Setting Description Programmed Current Current applied during the constant velocity portion of the move Units A Current Ramp Acceleration deceleration
119. on Correction screen Detent Stepper amplifier only Opens stepper amplifier Detent Compensation Gain Advanced Tuning screen Position Stepper amplifier with encoder only Opens Position Position Limits Stepper Amplifier Limits Limits screen Copley Controls 28 CME 2 User Guide Installation Startup and Interface Tour CAN Information and Status Bar CAN Information The Main screen displays the basic CAN information The example below shows CAN information CAN Network Address 1 State Pre operational The Address field shows the amplifier s present CAN address For more information see Network Configuration When the Position Loop Input is set to CAN the State field shows the state of the amplifiers CANopen state machine for more information see Copley Control s CANopen Programmer s Manual Status Bar The status bar describes the present commutation mode motor type and amplifier control status as shown below It also includes a reminder that pressing the F12 function key while CME 2 is running disables the amplifier Sine Commutation Rotary Motor Amp Enabled F12 To Disable 29 Copley Controls CHAPTER 3 AMPLIFIER SETUP CME 2 User Guide Amplifier Setup 3 1 Setup Procedure Warnings and Notes NOTE To software disable the amplifier at any time while running CME 2 press function key F12 Also the amplifiers enable input can be used to disable the amplifier 31 DANGER WAR
120. ontrol for PER del ADDR RS 232 0 ADDRESS MUST BE SET TO ZERO BEFORE POWER UP OR RESET Multi Drop Serial Connection A serially connected amplifier can be used as a multi drop gateway for access to other amplifiers linked in a series of CAN bus connections Set the CAN node address of the serially connected amplifier gateway to zero 0 Assign each additional amplifier in the chain a unique CAN node address value between 1 and 127 For more information on CAN node address assignment see Network Configuration Use 120 Ohms termination on the first and last amplifier TERMINATION MUST BE 120 Ohm USED ON FIRST AND LAST Terminator NODE for RS 232 Serial ee PC PLC or HMI SER CK Serial Cable Kit Copley Amplifier CAN for ASCII Control COMPort Spin D sub A with ASCIIRS 232 ADDR CAN Port 0 CAN Network Cable UTP CAT 5E Gigabit Ethernet RJ45 RJ45 CAN CAN CAN CAN Port ANP ANP AS i gi j i ka j i y L ADDRESSES MUST BE 120 Ohm SET BEFORE POWER UP Terminator OR RESET 233 Copley Controls APPENDIX D B amp B USB TO SERIAL ADAPTER Recommended Device Copley Controls recommends using the 232USB9M USB to Serial Adapter made by B amp B Electronics http www bb elec com Copley Controls has tested this low cost device extensively with CME 2 software Factory Settings The factory settings for this
121. open position loop stepper drives Control Loops Model In position mode the amplifier uses all three loops As shown in the typical system illustrated below the position loop drives the nested velocity loop which drives the nested current loop Limits Target Position Velocity Limited Current Limited PWM Position Command Command Velocity Command Current Command a m 5 iR Trajectory Position Velocity FG Velocity G _ Current Current Generator Loop Limiter H Loop B3 Limiter Loop Actual Position Derived Velocity Actual Current In velocity mode the velocity loop drives the current loop In current mode the current loop is driven directly by external or internal current commands Basic Attributes of All Servo Control Loops Loop Description Attribute Command Every loop is given a value to which it will attempt to control For example the velocity loop input receives a velocity command that is the desired motor speed Limits are set on each loop to protect the motor and or mechanical system Feedback The nature of servo control loops is that they receive feedback from the device they are controlling For example the position loop uses the actual motor position as feedback Gains These are constant values that are used in the mathematical equation of the servo loop The values of these gains can be adjusted during amplifier setup to improve the loop performance Adjusting these v
122. opley Controls Motor Phasing CME 2 User Guide 10 4 Manual Phase Remove load from the motor 1 2 On the Main screen choose Tools gt Manual Phase to open the window Manual Phase r Configuration j Monitor No Faults ae Motor Phase Angle Black Feedback Angle in Red Offset 0 deg Feedback 120 60 eae Feedback Ange Oden 180 PER Invert Input 240 300 RE _ Motor Phase Angle Odeg F Invert Output Position O counts Actual Current U 0 03A V 0 01A W 0 04 A Control Increment Rate 90 elec deg s Set Zero Position Current ai 5 Move Motor Enable Disable Re F Restore Defaults OK Cancel 3 0 Disable Verify the Current setting before enabling the drive 4 Move Motor Rev Fwd 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 Motors with no friction may need friction added to steady motion 5 If the motor cannot keep up with the rate of vector rotation then reduce the Increment Rate or increase the Current 6 Verify that pressing forward button moves motor forward If the motor moves in the wrong direction toggle the Motor Invert Output setting T 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 M
123. or instance El Jj Copley Neighborhood RES Virtual Amplifier EB COM1 X Axis C CME 2 V7 0 XE2 230 20 X Axis Axis A Me File Amplifier Tools Help ac aaa Copley Neighborhood HE Virtual Amplifier RE COM1 Y Axis een zung CVM Control Program Eiee A run Sine Commutation Rotary Motor CANopen over EtherCAT CoE Control F12 To Disable 17 Copley Controls Installation Startup and Interface Tour CME 2 User Guide 2 4 Communications Wizard Configure Serial Ports 1 Start the Communications Wizard lf communications has never been set up the Communications Wizard will be displayed automatically when CME 2 starts up Otherwise choose Tools gt Communications Wizard Choose Serial Ports and click Next 2 Select serial ports Select one or more serial ports from the Available Ports list then click Add Select Ports To add serial ports select them from the Available Ports list then press Add To remove serial ports select them from the Selected Ports list then press Remove Available Ports Selected Ports COM2 COM1 When finished click Next 3 Configure serial ports Copley Controls 18 CME 2 User Guide e Highlight a port in the Selected Ports list e Choose a Baud Rate for that port e Repeat for each selected port me G Communications Wizard Configure Serial Ports Select one or more serial ports from the list then select the baud rate Selected Port
124. ormula At each update a new value for the IT Accumulator Variable is calculated as follows IT Accumulator Variable n I T Accumulator Variable n Actual Output Current Continuous Current Limit Update period After each sample the updated value of the I T Accumulator Variable is compared with the I T setpoint If the I T Accumulator Variable value is greater than the I T Setpoint value then the amplifier limits the output current to the Continuous Current Limit When current limiting is active the output current will be equal to the Continuous Current Limit if the commanded current is greater than the Continuous Current Limit If instead the commanded current is less than or equal to the Continuous Current Limit the output current will be equal to the commanded current Copley Controls 212 CME 2 User Guide I2T Time Limit Algorithm Application Example Operation of the IT current limit algorithm is best understood through an example For this example a motor with the following characteristics is used e Peak Current Limit 12 A e IT Time Limit 1S e Continuous Current Limit 6 A From this information the I T setpoint is setpoint 12 A 6 A 1S 108A S Plot Diagrams The plots that follow show the response of an amplifier configured w I T setpoint 108 ASS to a given current command For this example DC output currents are shown in order to simplify the waveforms The algorithm essentially calculat
125. osition Limits in Stepper Mode See Position Limits Stepper Amplifier f using Encoder Correction set Encoder Correction Tune Detent Compensation Gain Configure Homing see Homing Copley Controls 34 CME 2 User Guide Amplifier Setup 13 35 Test with load attached gt 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 gt On the CME 2 Main screen click Save to Flash all On the CME 2 Main screen click Save to Disk for backup or duplication The amplifier tuning procedure is complete NOTE To copy the results of this setup to other amplifiers see Drive Configuration or Copy Drive Data Copley Controls CHAPTER 4 BASIC SETUP CME 2 User Guide 4 1 Overview Basic Setup The Basic Setup Wizard is used to set up the parameters that define the fundamental characteristics of the system This is where the motor feedback and operating mode are setup The setup can be done three different ways manually change settings load settings from a ccx file or run the ServoTube setup wizard Each of these methods are explained in this chapter 1 AF click to open the Basic Setup screen Motor Family Motor Type Commutation Hall Type Hall Phase Correction Use Halls for Velocity Position Use Back EMF for Velocity Multi mode Port Operating Mode Brushless Rotary Sinuso
126. otor Feedback Invert Input box setting 8 If the motor has no Halls skip to Phase Initialization for Motor without Halls Copley Controls 102 CME 2 User Guide Motor Phasing 9 Monitor the vector rotation through one electrical cycle for proper Hall transitions Verify that the red indicator rotates in the same direction as the motor phase angle and that the transition occurs when the needle is between indicators 30 degrees as shown below Motor Phase Angle Hall State E 30 120 60 Yo Sin o 240 300 lf the needle and Hall states do not track properly use the Hall Wiring list box and or Invert Input options shown below to swap the amplifier s Hall wire configuration Halls Invert Input JU TV W Hall Wiring Hall Offset Motor Feedbad lf the red indicator transition leads or lags behind the centered needle by more than 30 degrees then try adjusting the Hall Offset in 30 degree increments Hall Offset 0 deg 10 Phasing of a motor with encoder and Halls is complete Click OK Phase Initialization for Motor without Halls The Phase Initialization is designed to phase a motor with no Halls Halls are strongly recommended for safe redundant system 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 r
127. ounts Pole otor Feedback 5 mm a um Fundamental Pitch Interpolation Interpolated Resolution 51 Copley Controls Motor Feedback CME 2 User Guide 5 7 Feedback Notes 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 Halls for the commutation of brushless motors The resolver versions support standard single speed transmit type resolvers Dual Feedback Some Copley Controls amplifiers can receive position feedback from sensors on the motor the load or both through the Primary Feedback channel a Secondary Feedback channel multi mode port or both Some amplifiers can also operate in certain modes without encoders or resolvers A drive configured with a multi mode port can e Provide a buffered digital encoder output based on the digital encoder input e Provide an emulated digital encoder output based on the analog encoder or resolver input e Provide a second digital encoder input to be used in the dual encoder position mode In this mode an encoder attached to the load provides position loop feedback and the motor encoder or resolver provides velocity loop feedback A dual feedback setup is shown below The amplifier receives feedback from an incremental motor enco
128. ow correction to disturbances or transients 2 If the amplifier is set up to run in position mode under analog input command and the analog command signal produces too much noise at the motor after tuning the Analog Command Filter or the Velocity Loop Command Filter may be used to reduce the noise further Tune to multiple sets of profiles representing typical moves that might be executed in the application Starting with Step 6 repeat the process as needed Copley Controls 130 CME 2 User Guide Control Loops 131 Test S Curve Profile lf 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 Trace Status Ready A ee EEE LEIZEZZEZZIZZIII II On the Profile tab click the S Curve button Set up an S Curve profile by adjusting the following parameters to represent a typical move under normal operation Trajectory Limits Tab Maximum Velocity Maximum speed of the profile Maximum Acceleration Maximum acceleration deceleration of the profile The deceleration is Deceleration set to be the same as acceleration Maximum Jerk The value of jerk set during the calculate procedure produces an S Curve whose maxim
129. ower cable is not bundled with the encoder cable Hall signals test If the Halls signals are suspected to be faulty e Make sure Halls change states as the motor moves through one electrical cycle e Some Hall signals are noisy and require filtering Check with motor manufacturer e Some Halls are not properly calibrated to the motor manufacturer s specification Hall transition test If the location of the Hall transition is not within 30 degrees e Adjust Hall offset in smaller increments e Verify Hall alignment e Make sure motion is smooth 107 Copley Controls CHAPTER 11 CONTROL LOOPS CME 2 User Guide Control Loops 11 1 Current Loop Setup and Tuning Initial current loop proportional gain Cp and current loop integral gain Ci values can be calculated with Calculate IL Click Loop to open the Current Loop screen Actual Current Peak Current Limit 15 95 A 47 Time Limit 1000 ms Continuous Current Limit 4 65 A a Drive Output Maximize Smoothness 6 Maximize Speed Current Loop Offset 0A IF Enable Bus Clamping 109 Copley Controls Control Loops CME 2 User Guide Parameter Peak Current Limit Used to limit the peak phase current to the motor Max value depends upon the amplifier model Min value gt continuous limit I T Time Limit Sets IT Time Limit in ms See 12T Limit Algorithm Continuous Current Limit Used to limit the Phase Current Max Value is lt Peak Current and de
130. owing diagram illustrates the effects of the velocity loop limits Limited Velocity Commanded Velocity N Vella set A I I Accel Limit I Decel Limit Velocity Loop Gains The velocity loop uses these gains Gain Description Vp The velocity error the difference between the actual and the limited commanded velocity is Velocity loop multiplied by this gain The primary effect of this gain is to increase bandwidth or decrease proportional the step response time as the gain is increased Vi The integral of the velocity error is multiplied by this value Integral gain reduces the velocity Velocity loop error to zero over time It controls the DC accuracy of the loop or the flatness of the top ofa integral Square wave signal The error integral is the accumulated sum of the velocity error value over time Velocity Gains Shift The Velocity Gains Shift feature adjusts the resolution of the units used to express Vp and Vi providing more precise tuning If the non scaled value of Vp or Vi is 64 or less the Low Gains Shift option is available to increase the gains adjustment resolution Such low values are likely to be called for when tuning a linear motor with an encoder resolution finer than a micrometer If the non scaled value of Vp or Vi is 24001 or higher the High Gains Shift option is available to decrease the gains adjustment resolution Velocity Loop Filters See Standard Filter Types Ve
131. pe and description of each active fault and warning The contents of this tab are automatically refreshed as new events occur History Type description and time of occurrence of each fault and most warnings since the log was last cleared The contents of this tab are not refreshed automatically as new events occur The contents are refreshed only when the tab is displayed or when Refresh is clicked Frequency Type description and frequency of each fault and warning that has occurred since the log was last cleared The contents are refreshed only when the tab Is displayed or when Refresh is clicked Network Status Under CAN control only Status of CANopen network Lists warnings and errors a Saves the contents of the History and Frequency tabs to a text file Clears all History and Frequency entries in the drive rn Updates the contents of the History or Frequency tabs 197 Copley Controls Data Firmware and Logs CME 2 User Guide 17 10 Communications Log The communications log displays all communications between CME 2 and the amplifier The data is only stored in the PC s RAM by CME 2 it is not part of the amplifier s data On the Main screen choose Tools gt Communications Log 2 Communications Log COM3 Amp Desired State in RAM 00 73 01 Oc 00 24 COM3 Amp Desired State in RAM 00 45 01 00 00 le COM3 Motor Encoder Status 00 78 01 Oc 01 2e COM3 Motor Encoder Status 00 58 02 00 00 00 00 00 COM3 Camming Con
132. pends upon the amplifier model Min value 0 Current Loop Offset Sets current loop offset Leave it set to zero until after tuning For more information see Offset Current loop proportional gain Range 0 32 767 Current loop integral gain Range 0 32 767 Drive Output Maximize Smoothness Amplifier uses circular vector limiting to produce smooth operation even into the voltage limits Maximize Speed Allows for slightly more of the bus voltage to be used when in the voltage limit This may produce a small disturbance at top speed Enable Bus Clamping Auto Tune See Current Loop Auto Tune Bandwidth Measure bandwidth using the Cp and Ci values now in the amplifier Copley Controls 110 CME 2 User Guide Control Loops Manually tune the Current Loop 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 Trace Status Trace Canceled Ready To Start New Trace NOTE 1 During tuning observe any warnings or faults that appear in the status bar of the scope 2 Some users prefer the Auto Tune feature See Current Loop Auto Tune p 121 1 Click the Scope Tool 2 Apply To Current v Choose Current from the Function Generator Apply To list 3 Auto Setup On the Settings tab make sure Auto Setup is selected Auto Setup automatically sets the following parameters Function Generator Tab Par
133. pley Controls Data Firmware and Logs CME 2 User Guide 17 2 Data Management Tools Amplifier 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 CA CME 2 V6 1 XEL 230 36 unnamed File Amplier Took Help ieee Ar Fr E FrEE all lt Data Management Tools Name Description _ O Z o o Save amplifier data Saves both amplifier and motor feedback data to a disk with a ccx filename to disk extension Restores amplifier and motor feedback data from a ccx file to the amplifier s Restore amplifier RAM or flash for the flash only variables See Parameter Dictionary for data from disk parameter descriptions A To Flash operation should be performed to insure that all data is saved to flash mb Save amplifier data Saves contents of amplifier RAM to amplifier flash memory to flash Restore amplifier Restores contents of amplifier flash memory to amplifier RAM data from flash Motor Feedback Screen Operations performed using the Motor Feedback screen data management tools only apply to the motor feedback parameters Motor Feedback data management tools Cancel Action Name Description ____________________ o Saves only motor feedback data to disk with a ccm filename extension Amplifier morala data that is not represented on the
134. quency current loop tuning Therefore current loop tuning will need to be checked Active Network Required If selected drive will not enable if network is not active for Amp to Enable 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 As an alternate to the default addressing switches S1 and S2 may be used to program a station alias The default address and station alias are always available If the switch based station alias is used it is the responsibility of the user to ensure that each drive has a unique station alias EtherCAT Address Station Alias 1 View the S1 and S2 switch settings on the drive 2 Verify the S1 and S2 switch settings select Amplifier gt Network Configuration from the CME 2 Main Screen to open the EtherCAT Settings screen as shown in the following example G EtherCAT Settings m 51 52 Resulting Address 9 FAULTS Faults CME 2 User Guide 9 1 Overview Latched vs Non latched Faults When a fault is configured to be latched the fault can only be cleared after the fault has been corrected and at least o
135. rent to drive a small move Then used as a Settling time If the value is too low the settling may not occur in time possibly resulting in jerky motion Default 400 ms Current Use to overcome stiction when rotating current vector If the current is too large motion may not settle a low value may not provide enough current to drive a move Forced Phase When selected Forced Phase causes the Phase Initialization function to apply Phase Init Current to alternate pairs of motor wires using the Phase Init Time Forced Phasing has been used to overcome various phasing problems including situations where gravity introduces unwanted motion Forced Phasing tends to produce more jerk and apparent motion Increment Phase 90 If set the amplifier will increase the starting phase angle by 90 degrees after every deg failed initialization attempt Use Offset If set the amplifier uses the Hall Offset value as the initialization starting angle Manual Phase Example Motor with Resolver 1 Make sure that no load is connected to the motor 2 On the Main screen choose Tools gt Manual Phase to open the window Copley Controls 104 CME 2 User Guide Motor Phasing Manual Phase ree Configuration Monitor PER No Faults basas Motor Phase Angle Black Feedback Angle in Red Offset 90 deg Resolver 120 60 Motor Feedback j 18 0 nz Angle 180 deg V Invert Input 240 Y 300 Motor Phase Angle 274deg Motor
136. rigger event on the screen Value is not configurable for Immediate or Function Generator trigger types e Left for optimal viewing of events following the trigger e Middle for optimal viewing of events preceding and following the trigger e Right for optimal viewing of events preceding the trigger Copley Controls 166 when the selected channel s input changes from below to e trigger level CME 2 User Guide Oscilloscope Sets the trigger level in units appropriate to the channel selected Event Status Bit With an event status trigger type selected choose the status bit that will trigger the trace For descriptions of the event status word 167 Copley Controls Oscilloscope CME 2 User Guide 15 7 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 Cursors Trace Status Ready Function Generator Profile Cursor raw data Cursor data analysis rms Units k 5 Function Square Wave GHEY ME HERE EG ESE courts Amplitude 3192 H2r counts os IM IH EEE a BEE es ESTE Frequency 2 Hz Eise crn NAAA NA AS When Show Cursors i
137. rive configuration consists of all parameters RAM Flash and Flash Only and the entire contents of the CVM flash which includes any CVM programs cam tables and gain scheduling tables The file is saved with a ccd file extension This feature is useful to clone drives in one step rather than separately loading each file ccx ccp cct ccg Additionally the file is in XML format which can be read by some EtherCAT masters Save Drive Configuration From the menu on the Main screen select File gt Save Drive Configuration then choose a filename A progress bar will be displayed while the data is being saved to the file EX Drive Configuration lo ee Saving Drive Configuration to file Restore Drive Configuration From the menu on the Main screen select File gt Restore Drive Configuration then choose a filename A progress bar will be displayed while the data is being saved to the file EX Drive Configuration lo ee Restoring Drive Configuration to Flash Es 13 All of the data read from the file is saved to the drive s Flash After all of the data is written the drive will be reset so that the Flash data is copied to RAM 191 Copley Controls Data Firmware and Logs CME 2 User Guide 17 5 Copy Drive Data In product families prior to the Plus Family the Drive Configuration feature is not available In order to clone one drive to the next multiple steps are required OR Load the ccx file
138. s COM1 Finish Click Finish to save the settings 19 Installation Startup and Interface Tour Copley Controls Installation Startup and Interface Tour CME 2 User Guide Configure CANopen Network 1 Startthe Communications Wizard lf communications has never been set up the Communications Wizard will be displayed automatically when CME 2 starts up Otherwise choose Tools gt Communications Wizard Choose CAN Network and click Next 2 Configure CANopen Network e Select the CAN card from the list e Enter the channel number 0 for single channel CAN cards e Select the bit rate Configure CAN Network CAN Card Copley Channel BitRate 1Mbit s Click Finish to save the settings Copley Controls 20 CME 2 User Guide Installation Startup and Interface Tour NOTES 1 The CAN Card list only shows the CAN cards that are supported by CME 2 and are properly installed on the PC 2 All amplifiers must be set to the same bit rate default is 1 Mbit s 21 Copley Controls Installation Startup and Interface Tour CME 2 User Guide Configure EtherCAT Network 1 Start the Communications Wizard lf communications has never been set up the Communications Wizard will be displayed automatically when CME 2 starts up Otherwise choose Tools gt Communications Wizard Choose EtherCAT and click Next 2 Select the Network adapter Select the appropriate Network Adapter Network
139. s free to move Press Start when ready Commanded Motor Phase Angle Auto Phase Current 1 03 A Increment Rate 90 elec deg s Actual Motor Position 1 counts Configuration Settings Ready counts per rev 131072 Poles 8 8 Observe motor motion and verify that it moves 1 full turn before any gearing 9 10 Click Next to open the Auto Phase Motor Phase Initialize screen 99 Copley Controls Motor Phasing CME 2 User Guide Auto Phase Motor Phase Initialize The amplifier will perform phase intialization Make sure the motor is free to move Press Initialize Phase when ready Initialize Phase 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 New configuration will be saved to amplifier flash Hall Configuration has changed Data file should be saved again 14 Click OK Tips for Auto Phase Current and Increment Rate e If friction is high more current may be required to move the load e High static friction may require more current to overcome stiction e Transition from static friction to dynamic friction and back may produce jerky motion e A faster increment rate will operate in the dynamic friction range e A slower rate will operate in the static friction range e If the friction is low as in the case of air bearin
140. s 8 CHAPTER 1 INTRODUCTION Introduction CME 2 User Guide 1 1 Host Computer Requirements Computer and Operating System Minimal hardware requirements e CPU 1 GHz e RAM 1 GB Operating Systems Supported Windows XP Windows 7 and Windows 8 Default File Locations The default location for CME 2 data files ccx ccm etc is determined by the Operating System Windows XP C Program Files Copley Motion CME 2 Windows 7 and Windows 8 C Users Public Documents Copley Motion CME 2 Serial Communications e Standard RS 232 serial port or a USB to RS 232 adapter e Serial communication cable See data sheet for part numbers CAN Communications e CAN card The following CAN card manufacturers are supported Copley Controls CAN PCI card CAN PCI 02 Kvaser IXXAT CANopen network cable see data sheet for part number and wiring instructions EtherCAT Communications e Ethernet adapter dedicated to the EtherCAT network e EtherCAT network cable see data sheet for wiring instructions Copley Controls 10 CME 2 User Guide Introduction 1 2 Overview Setup and Tuning Java based CME 2 configuration software is powerful and intuitive Comprehensive diagnostics auto tuning and advanced oscilloscope tools simplify system commissioning Auto phasing eliminates time consuming rewire and try for encoder Halls motor connections CME 2 automatically compensates for crossed wires eliminating the most common cause of startup headac
141. s Guide Camming User Guide Parameter Dictionary Serial Encoder Guide Copley Controls software and related information can be found at http www copleycontrols com Motion Products Software index html Copyrights No part of this document may be reproduced in any form or by any means electronic or mechanical including photocopying without express written permission of Copley Controls CME 2 Copley Virtual Machine CVM Xenus Accelnet Stepnet Accelus and Junus are registered trademarks of Copley Controls Windows 7 Windows 8 and Windows XP are registered trademarks of the Microsoft Corporation Document Validity We reserve the right to modify our products The information in this document is subject to change without notice and does not represent a commitment by Copley Controls Copley Controls assumes no responsibility for any errors that may appear in this document 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 Exercise caution when installing and adjusting Copley amplifiers Risk of electric shock DANGER On some Copley Controls amplifiers high voltage circuits are connected to mains power Refer to hardware documentation Risk of unexpected motion with non latched faults Aft
142. s entered in this screen are in Metric or English units Mass The mass of the motor Used for calculating initial velocity loop tuning values Range 0001 Kg to 100 000 Kg Default 0001 Kg Peak Force The peak force that the motor can produce Peak Force divided by Force Constant motor s peak current limit Range 0 00001 to 2 000 N Default 0 00001 N Continuous Force The continuous force that the motor can produce Used with the force constant to calculate continuous current Range 0 00001 to 1 000 N Default 0 00001 N Velocity Limit Maximum speed of the motor Used to calculate the velocity and acceleration limits for the velocity loop Range dependent on encoder resolution Force Constant Relates the motor s input current to force produced Sometimes abbreviated as Kf Range 0 00001 to 2 000 N Amp Default 0 00001 N Amp Back emf Constant Relates the motor s input voltage to soeed Sometimes abbreviated as Ke Used for calculating maximum velocity for a given amplifier voltage Range 0 01 to 1 000 V M Sec Default 0 01 V M Sec Resistance Motor resistance line to line Used for calculating the initial current loop tuning values Range 0 01 to 327 Default 0 01 Q Inductance Motor inductance line to line Used for calculating the initial current loop tuning values Range see the hardware documentation Magnetic Pole Pair Length The length of a pair of magnets which equals the distance moved in one electrical cycle of
143. s not set the Cursor Data fields are inactive and the Analysis fields show calculations based on data from the entire trace cycle 1 Show Cursors Cursors To display cursors and activate the Cursor Data fields set Show 2 To move a cursor click on the cursor and hold the left button while dragging the cursor to the desired location Release the left button to place the cursor in the new location 3 To select a parameter to measure and analyze within the cursors choose a channel in one of the three channel lists on the Measurement tab Copley Controls 168 CME 2 User Guide Oscilloscope 169 Copley Controls Oscilloscope CME 2 User Guide 15 8 Control Loop Parameters The Oscilloscope 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 Position oct Current Pp El h Cp Aff Note that the parameters represented on these tabs can also be accessed through the screens used to configure the control loops and the digital position input Changing a value in the Scope tool automatically updates the value on the other screens where it appears and vice versa Control loop parameter tab descriptions follow Gains Tab Modes Gains Description For More Information Pp Position loop proportional
144. screen and reset the amplifier Click Save amp Close to save changes to amplifier flash without resetting NOTE Address and bit rate changes take effect only after power up or reset 83 Copley Controls Network Configuration CME 2 User Guide 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 The four possible values for this setting are 0 1 2 and 3 As a MACRO station or node the XML has eight available addresses as a motion control device These are 0 1 4 5 8 9 12 amp 13 1 Verify the S1 and S2 switch settings 2 Select Amplifier gt Network Configuration from the CME 2 Main Screen to open the MACRO Configuration screen as shown in the following example MACRO Configuration Master Address Slave Address Scaling Input Command 15000 A Heart Beat Time Out O ms Home Status Bit Use Motor Encoder Index Use Home Input Auxiliary Data Registers First Digital Input Second Analog Input Enable Position Output Scaling Active Network Required for Amp to Enable Enable MACRO Networ
145. splays status descriptions Copley Controls 152 CME 2 User Guide Control Panel 14 3 Control Panel Monitor The Control Panel Monitor displays real time values of selected variables Monitor Actual Motor Velocity Actual Motor Position Mode Disabled Monitor Variables Actual Current Actual Motor Velocity Actual Motor Position Following Error Commanded Current Commanded Velocity Passive Load Position Limited Position Analog Command Commanded Position Bus Voltage Amplifier Temperature Motor Phase Angle Mode Displays the amplifiers operating mode in RAM In camming mode it also displays the active cam table number Actual Load Velocity Actual Load Position Profile Velocity Velocity Error Profile Acceleration 153 Copley Controls 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 Control Enable Set Zero Position Disable Clear Faults Reset 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 Set Zero Position Click to set the amplifier s actual position counter to zero Clear Faults Click to clear all amplifier faults Reset Click to reset the amplifier Risk of unexpected or uncontrolled motion Usi
146. t Commanded Correcting Current Torque Actual Current Peak Current Limit 18 A 1 T Time Limit 1067 ms Continuous Current Limit 409 A Current Loop Offset DA 2 Verify that the amplifier is hardware enabled 3 Click Auto Tune to open screen and start the Current Loop Auto Tune Auto Tune Current Os A Status Auto Tune in progress EN A To Change the Auto Tune Current Press Stop enter the new current in the Auto Tune Currentfield and then press Start 113 Copley Controls Control Loops CME 2 User Guide 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 Auto Tune Current 1 Status Auto Tune in progress Auto Tune Current A A Status Measuring Bandwidth Cp 335 Ci 252 Start Displays the results a set of Cp and Ci alternatives and the bandwidth measured using the high Cp and Ci values Auto Tune Results Auto Tune has determined new values for Cp and Ci along with O high bandwidth measurement Select desired settings High Cp Ci 252 Medium cp ci 151 Low Cp Ci 101 Original cp 293 ci 199 Save Cp and Ci to Flash Keep Cp and Ci in RAM only Copley Controls 114 CME 2 User Guide Control Loops 6 115 Choose an action based on Auto Tune results Choose which set of valu
147. t appear to the left of the trace i Click the Scope Tool 2 ator Profile Select the Profile tab 3 Auto Setup On the Settings tab make sure Auto Setup is selected Auto Setup automatically sets the following parameters Reverse and repeat Not selected Settings Tab Channel 1 Profile velocity green Channel 2 Following error white Distance 2000 counts If the Auto Setup default profile distance is not appropriate enter an appropriate short distance 9 Click Start The Profile Generator executes a short move NOTES e The profile may not reach constant velocity during a short move e fa following error occurs open the Control Panel and click Clear Faults Copley Controls 128 CME 2 User Guide 6 129 Settings Gains Trajectory Limits Position Params Velocity Params Measurement Maximum Velocity Maximum Acceleration Maximum Deceleration Position Pp 5000 Aff ol s Vf 16384 1500 rpm 500 rps 500 rps and Function Generator Profile Control Loops Move Type Relative o Trap Absolute S Curve Distance 2000 counts Set up a trapezoidal profile by setting the trajectory limits and distance See table Trajectory Limits Tab Maximum Velocity Maximum Acceleration Maximum Deceleration Set values typical of those expected to be used in the application that this distance does not exceed mechanical limits of the system Adjust position proport
148. the amplifier LO Enables with reset A low to High transition will reset the amplifier AMP Enable A High input will enable the amplifier HI Enables with reset A High to low transition will reset the amplifier POS Limit HI Inhibits A High input will inhibit motion in positive direction Motion Abort Active HI A High input causes the amplifier to stop motion using the Abort Deceleration rate described in Trajectory Limits The amplifier remains enabled Motion Abort Active LO A low input causes the amplifier to stop motion using the Abort Deceleration rate described in Trajectory Limits The amplifier remains enabled Hi Res Analog Divide Active HI A High input causes the firmware to divide the level of the analog input signal by 8 Hi Res Analog Divide Active LO A low input causes the firmware to divide the level of the analog input signal by 8 High Speed Position Capture on LO HI Position will be captured on the low to high transition of the input Transition High Speed Position Capture on HI LO Position will be captured on the high to low transition of the input Transition PWM Sync Input PWM synchronization input Synchronizing PWM Switching Frequency For high speed inputs only co Copley Controls Digital Inputs and Outputs CME 2 User Guide 6 2 Digital Outputs A typical Digital Outputs screen is shown below Options vary with model and configuration Red LED Output is active Gray LED O
149. the motor Microsteps Number of microsteps per full step Min 1 Max 100 000 000 Full Step 49 Copley Controls Motor Feedback CME 2 User Guide 5 9 Feedback Parameters Rotary Details for serial encoders can be found in the Serial Encoder Guide Feedback Type Parameters Actions 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 Enable Encoder Loss Detection and or Index Loss detection if desired otor Feedback 1000 lines 4000 counts Enable Encoder Loss Detection Enable Index Loss Detection Analog In Fundamental Lines enter the number of fundamental encoder lines see encoder or motor data sheet As indicated by the Fundamental Counts field the number of fundamental encoder counts per revolution is equal to 4 x the number of Fundamental Lines Motor Feedback Fundamental Lines Interpolation k Interpolated Counts Per Rev 102 u Optionally modify the encoder resolution by changing the Interpolation value The interpolated resolution Interpolated Counts Per Rev is the product of Fundamental Counts value and the Interpolation value Resolver Optionally modify the feedback resolution by changing the value in Counts Per Rev Default 16384 Resolver 16334 counts per rev With amplifier set to Use Hal
150. 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 Home Switch zu BEE 50 Positive Limit Sto HH Index Pulse Direction of Motion Negative Home is the first index pulse on the negative side of the negative edge of a momentary home switch Initial direction of motion is negative If the initial motion leads away from the home switch the axis reverses on encountering the negative limit switch then if a negative limit switch is activated before the home switch an error is generated Home Switch u y Negative Limit Switch Index Pulse 227 Copley Controls Homing Methods CME 2 User Guide 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 Home Switch IA Ao o i Positive Limit Switch p Index Pulse Direction of Motion
151. tion Hold Move Pos to generate a forward move profile or hold Move Neg to generate a negative move profile Release the button to stop movement NOTE Position mode jog is accomplished by continuously updating the commanded position If a following error develops with Following Error Fault 155 Copley Controls Control Panel CME 2 User Guide Copley Controls 156 CHAPTER 15 OSCILLOSCOPE Oscilloscope CME 2 User Guide 15 1 Overview The Oscilloscope 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 Trace Status Ready nr Trajectory Limits Velocity Params Move Type CI Trigger Setup Relative Trap AutoSetup Absolute 5 5 Curve he Auto Scale Lock Dance ons race Tie Sample Rate 125 us Following Error Reverse and Repeat A IS Copley Controls 158 CME 2 User Guide Oscilloscope 15 2 Menu Display and Controls File Menu k Oscilloscope File The File menu contains the options to save restore scope settings This feature is useful for saving custom settings used for tests that are run frequently Save Settings Saves current scope settings to a file Restore Settings Restores settings from a file Display To access the Trace Display menu Right click in the trace display area
152. tion Max value may depend upon the load inertia and peak current Min 0 Default 0 5 x velocity loop Accel Limit value Max Decel Maximum trajectory deceleration Max value may depend upon the load inertia and peak current Min 0 disables limit Default 0 5 x velocity loop Accel Limit value Abort Decel Deceleration rate used by the trajectory generator when motion is aborted Min 0 Default 0 5 x velocity loop Accel Limit value Jerk Rate of change of acceleration The value of jerk set during the calculate procedure produces an S Curve whose maximum slope is equal to the trajectory profile slope This value will produce a maximum acceleration that is not more than the initial default value of acceleration Small values will produce less jerking but will take longer to complete move Large values will produce more jerking and a more trapezoidal profile but will complete the move faster Note that setting limits to zero disables the trajectory generator so that the command input is not limited by the generator Velocity is only limited by the Velocity Limit set in the Velocity Loop 127 Copley Controls Control Loops CME 2 User Guide Manually Tune the Position Loop 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 tha
153. tion Phase Not Initialized Raw Encoder Primary Encoder A Primary Encoder B Primary Encoder X Primary Encoder S Secondary Signals Encoder A Secondary Encoder B Secondary Encoder X Secondary Encoder S 165 Copley Controls Oscilloscope CME 2 User Guide 15 6 Trigger Setup Trigger Setup Glick the Trigger Setup button to open the Trigger Settings screen Trigger Settings Trigger Type Above Level Trigger On Channel 1 Position Left Lewel Event Status Bit OK Cancel Immediate Trigger Trigger as soon as a trace is started when the Record button is pressed Rising Edge Trigger above th Falling Edge Trigger when the selected channel s input changes from above to below the trigger level Above Level Trigger as soon as the selected channel s input is greater than or equal to the trigger level Below Level Trigger as soon as the selected channel s input is less than or equal to the trigger level Function Generator Trigger on the start of the next function generator cycle Input Level High Lo Trigger when specified input is high or low Output Active lnactive Trigger when specified output is active inactive Event Status Rising Trigger on the rising or falling edge of an event status bit Edge Falling Edge Raw Encoder Signal Triggers when the raw encoder signal is Hi Lo Level H Lo Trigger On Selects which channel will be used as the trigger source Position Selects placement of the t
154. tion error reaches the programmed warning threshold the amplifier immediately sets the following error warning bit in the status word This bit can be read over the CAN network It can also be used to activate a digital output 133 Copley Controls Control Loops CME 2 User Guide Position and Velocity Tracking Windows When the position error exceeds the programmed tracking window value a status word bit is set The bit is not reset until the position error remains within the tracking window for the programmed tracking time A similar method is used to handle velocity errors 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 Additional responses and considerations depend on whether the fault is non latched or latched as described below Amplifier Response to Non Latched Following Error Fault When a non latched following error fault occurs the amplifier drops into velocity mode and applies the Fast Stop Ramp deceleration rate to bring the motor to a halt The amplifier PWM output stage remains enabled and the amplifier holds the veloc
155. tor Output State of the PWM output stage Red if the output stage is inactive disabled Hardware Enabled State of the hardware enable input s Red if one or more enable inputs are inactive Positive Limit State of the positive limit switch input Red indicates an activated positive limit switch Negative Limit State of the negative limit switch input Red indicates an activated negative limit switch Software Limits State of the software limits Red indicates an activated software limit Motor Phase Indicates a motor phasing error Red indicates a motor phasing error exists Motion Abort Input State of the programmed Motion Abort Input Red indicates the input is active CVM Control Status of the CVM Control Program Program Home Indicates whether the axis has successfully been referenced homed 151 CAN Status Status of the CAN Bus Yellow indicates CAN warning limit reached Red indicates bus error detected Copley Controls Control Panel CME 2 User Guide Gain Scheduling Indicates whether Gains Scheduling is active Indicates that a fault is active Check the status message box for a description of the most recent fault Fault Under voltage Check the Error Log for a full history of faults and warnings Indicates that a warning is active Check the status message box for a description of the most recent Warning Pos Outside of Tracking Window Check the Error Log for a full history of faults and warnings Message Box Di
156. tory generator Input Description o O Profile Velocity The instantaneous velocity value of the profile Used to calculate the velocity feed forward value Profile Acceleration The instantaneous acceleration deceleration value of the profile Used to calculate the acceleration feed forward value Limited Position The instantaneous commanded position of the profile Used with the actual position feedback to generate a position error Copley Controls 132 CME 2 User Guide Control Loops Position Loop Gains The following gains are used by the position loop to calculate the velocity command Pp The loop calculates the position error as the difference between the actual and Position loop limited position values This error in turn is multiplied by the proportional gain proportional value The primary effect of this gain is to reduce the following error Vff The value of the profile velocity is multiplied by this value The primary effect of Velocity feed forward this gain is to decrease following error during constant velocity Aff Acceleration feed The value of the profile acceleration is multiplied by this value The primary effect forward of this gain is to decrease following error during acceleration and deceleration Gain Multiplier The output of the position loop is multiplied by this value before being passed to the velocity loop Position Loop Feedback Some Copley Controls amplifiers feature dual sensor position
157. trol Loops CME 2 User Guide Manually Tune the Velocity Loop Apply square wave excitation to velocity loop and adjust proportional gain Vp and integral gain Vi to obtain desired waveform For instance Trace Status Trace Canceled Ready To Start New Trace NOTE During tuning observe any warnings that appear to the left of the trace 1 Click the Scope Tool 2 Apply To Velocity list Choose Velocity from the Function Generator Apply To 3 Auto Setup On the Settings tab make sure Auto Setup is selected Auto Setup automatically sets the following parameters Function Generator Tab Function Square Wave Amplitude 10 of maximum velocity value Frequency 5 Hz Settings Tab Channel 1 Limited velocity green Channel 2 Actual Motor Velocity white 4 Amplitude 22 pm Verify that Amplitude value is not excessive for the motor 2 Click Start 6 On the Gains tab adjust velocity loop proportional gain Vp Set velocity loop integral gain Vi to zero Raise or lower proportional gain Vp to obtain desired step response Typically little or no overshoot on a 5 Hz small slow speed square wave Adjust velocity loop integral gain Vi until desired settling time is obtained Press Stop to stop the function generator Sa On the Main screen click Save to Flash to avoid losing the changes Copley Controls 120 CME 2 User Guide Control Loops 11 5 Notes on the Velocity Mode and
158. ts Invert Command 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 Quadrature A B quadrature commands from a master encoder via two inputs provide velocity and direction commands Increment position on Rising Edge Increment position on the rising edge of the input pulse Falling Edge Increment position on the falling edge of the input pulse Stepping Resolution Input Pulses Number of Input Pulses required to produce output counts Range 1 to 32 767 Default 1 Output Counts Number of Output Counts per given number of input pulses Range 1 to 32 767 Default 1 Invert Command When selected inverts commanded direction Pulse Smoothing In digital position mode the amplifier s trajectory generator can be used to create trapezoidal profiles with programmed acceleration deceleration and velocity from a simple pulse train or burst of pulses To bypass the trajectory generator while in digital or analog position modes set the maximum acceleration to zero The only limits in effect will now be the velocity loop velocity limit and the current limits Note that leaving the maximum acceleration set to zero will prevent other position modes from operating correctly 75 Copley
159. ue of acceleration Small values will produce less jerking but will take longer to complete move Large values will produce more jerking and a more trapezoidal profile but will complete the move faster Abort Jerk The value of Jerk used when a move is aborted Note that setting limits to zero disables the trajectory generator so that tne command input is not limited by the generator Velocity is only limited by the Velocity Limit set in the Velocity Loop Copley Controls 142 CME 2 User Guide Stepper Tuning 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 In encoder correction mode when a commanded position is not equal to the actual position indicated by encoder counts the following error is multiplied by the Encoder Corrections proportional gain ECp and micro steps are added to the open loop micro stepping loop lf the error is large or the gain is high micro steps are added at a higher rate up to the Max step rate limit If the ECp gain is too high the loop will become unstable and corrections will not reduce the position error The position error will not be reduced if the Max step rate is outside of the motors steppin
160. uence Calibrate Starts the Calibration routine for absolute encoders See Absolute Encoder Calibration Saves the homing parameters to amplifier flash Discards unsaved homing parameters then closes the screen The rules for discarding unsaved values are as follows e Ifthe Save button was never clicked all of the homing parameters will be reverted to the values at the time that the screen was opened un Cu m If the Save button was clicked then the homing parameters will be reverted back to the values at the time of the last Save event Upon closing any home sequence in progress will be aborted 147 Copley Controls Homing CME 2 User Guide 13 2 Absolute Encoder Calibration When absolute encoders are used the absolute encoder value that corresponds to the zero position in the machine s reference frame is saved to flash memory in the drive This value is then added to the absolute encoder reading so that all position measurements are in absolute units in the machine s coordinate system Movement of the motor to find the machine s reference point is not necessary This process is called calibration because it s done once when the machine and drive are commissioned together and does not need to be repeated until the encoder is changed or adjustment of the machine zero location is changed Note This feature is only available on the Plus family of drives with a minimum firmware version of
161. um slope is equal to the trajectory profile slope This value will produce a maximum acceleration that is not more than the initial default value of acceleration Small values will produce less jerking but will take longer to complete move Large values will produce more jerking and a more trapezoidal profile but will complete the move faster Profile Tab Distance Increase the move distance to produce a complete trajectory profile Use an acceptable value the does not exceed mechanical limits of the system Click Start Try multiple sets of profiles representing typical moves that might be executed in the application Starting with Step 2 repeat the process as needed Copley Controls Control Loops CME 2 User Guide 11 7 Notes on the Position Mode and Position Loop 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 When using the CAN bus serial bus or CVM Control Program a trapezoidal or S curve profile can be programmed The trajectory generator updates the calculated profile in real time as position commands are received The output of the generator is an instantaneous position command limited position In addition values for the instantaneo
162. uration RAM and all CVM flash to a drive configuration file Save Amplifier Saves contents of amplifier RAM Data to a file on disk S ave As gt Single For multi axis drives only saves Axis one axis to a file on disk Save As gt V4 1 Saves amplifier data file in format Format usable by CME 2 Version 4 1 Copy Axis For multi axis drives only copies the setting from one axis to another Restores contents of a drive configuration file to amplifier RAM and CVM flash Restore gt Amplifier Restores contents of an amplifier Data file from disk to amplifier RAM Restore gt Single For multi axis drives only Axis restores contents of an amplifier file to only one axis Restore gt CVM Restores a CVM program from a Copley Indexer 2 Program User Control Program file to the CVM Flash Guide Restore gt Cam Restores a Cam Table file cct See Copley Camming Users Tables Guide Restore gt Gain Restores Gain Scheduling Table Gains Scheduling Scheduling Table from a file ccg Exit ESA Basic Setup Basic Setup Control Panel Control Panel Auto Phase Motor Phasing Error Log Error Log Amplifier Displays basic amplifier Properties properties Network Opens the CAN Configuration Network Configuration Configuration screen Rename Prompts for new amplifier name Rename an Amplifier Auto Tune Opens Auto Tune for Linear Servo Auto Tune all Loops for Linear Motors Motors Restore gt Drive Configuration O Gain S
163. urrent vector is applied to the motor windings and microstepped through an electrical cycle at a set rate causing the motor to move lf you chose to Skip the motor direction setup step Auto Phase will prompt for confirmation of correct motor direction lf the step fails see Troubleshooting the Auto Phase Problems NOTE If incorrect values were entered for inductance and resistance the calculated Cp and Ci values may produce current loop oscillation evidenced by an audible high frequency squeal during auto phasing 7 Click Next to go to the Phase Count Test step 2 Auto Phase Phase Count Test The software will now micro step the motor in the negative direciton Make sure the motor is free to move Press Start when ready Auto Phase Current 1 03 A Increment Rate 90 elec deg s Sar z 7 ima Actual Motor Position 1 counts Configuration Settings Ready counts per rev 131072 Poles 8 lt Back Skip gt Cancel 93 Copley Controls Motor Phasing CME 2 User Guide 8 10 11 Click Start to begin the Phase Count Test Observe status messages See the prompt Phase Counts Observe motor motion and verify that it moves 1 full turn before any gearing When you are ready to observe motion click OK When motion is complete the prompt will be displayed Phase Counts O Did motor move 1 full turn If motor did not turn 1 full turn click No and see Phase count test If motor turned 1
164. us profile velocity and acceleration are generated These signals along with the actual position feedback are processed by the position loop to generate a velocity command To bypass the trajectory generator while in digital or analog position modes set the maximum acceleration to zero The only limits in effect will now be the velocity loop velocity limit and the current limits Note that leaving the maximum acceleration set to zero will prevent other position modes from operating correctly The following diagram summarizes the position loop Position Loop Profile Velocity Target Trajectory Profile Acceleration Gain Velocit Position Generator na J Multiplier Command ESA Limited Position Limits Max velocit e Max velocity Feedback Be from motor encoder or resolver e Max accel o e Max decel Osiris from optional position encoder on load e Abort decel Trajectory Limits In position mode the trajectory generator applies these limits to generate the profile Limiter Description Maximum Velocity Limits the maximum speed of the profile Maximum Acceleration Limits the maximum acceleration rate of the profile Maximum Deceleration Limits the maximum deceleration rate of the profile Abort Deceleration Specifies the deceleration rate used by the trajectory generator when motion is aborted Position Loop Inputs From the Trajectory Generator The position loop receives the following inputs from the trajec
165. utput is inactive Indicates the state of the output On Off or Hi Lo OUT 1 Faut Actverigh y Configure Custom OUT 2 Not Configured Configure Custom Configure Custom Not Configured Configure Custom Configure Custom Configure Custom Hold position when limit switch is active Restore Defaults Cose Copley Controls 60 CME 2 User Guide Digital Inputs and Outputs Digital Output Functions 61 Copley Controls Digital Inputs and Outputs CME 2 User Guide 6 3 Custom Event Triggered Output Digital outputs can be configured for one or more bits in the Event Status faults warnings and status OUT 2 Custom Event Configure Custom Choose Custom Event for the output configuration then click Configure Custom to open the Event Triggered Output screen er Tagged Oa Amplifier Fault Amp Over Temperature Motor Phasing Error Feedback Error Motor Over Temp Under Voltage Over Voltage Short Circuit Current Limited Voltage Limited 4 LLE Output Active High Output Active Low ES Select one or more events from the list Selections are OR ed together so that any event will cause the output to go active The Clear button clears all selections 3 Choose Output Active Hi Off or Output Active Lo On Copley Controls 62 CME 2 User Guide Digital Inputs and Outputs A To latch the output set th
166. utput value is proportional to the actual motor current Mode Actual Current Analog Output Value 1 mV Actual Current 0 01 A Copley Controls 68 CHAPTER 7 COMMAND INPUTS Command Inputs CME 2 User Guide 7 1 Analog Command Settings _ Ansiog Command Click the Analog Command button on the Main screen Piece rar Scaling Dead Band Invert Command Parameter 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 rom 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 Default 1 Revolution of a rotary motor or 1 pole pair distance for a linear motor For more information see Scaling Dead Band Sets dead band Range 10 000 to 10 000 mV Default 0 For more information see Dead Band Invert Command Inverts polarity of amplifier output with respect to input signal Offset Current and Velocity modes only Used to offset input voltage error in an open loop system Not recommended for use when the amplifier is part of a closed loop system Range 10 000 to 10 000 mV Default 0 For more information see Offset Copley Controls 70 CME 2 User Guide Command Inputs Analog Command Notes The amplifier can be driven by an analog voltage signal through the an
167. volution of the motor is 4000 counts Load Position Wrap O counts Load positioning not configured OK f Cancel Help 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 Motor Position Position at which the actual motor position count returns to zero In a single feedback Wrap system it also applies to the actual load position Load Position Position at which the actual load position count returns to zero in dual feedback Wrap systems If the position encoder is set to passive mode this value applies to the passive encoder position Copley Controls 126 CME 2 User Guide Control Loops Click on the Trajectory Values tab G Position Loop gt sE Trajectory Values Position Loop Values Profile Velocity Commanded Position Velocity amp Acceleration Profile Acceleration Limiter E Limited Position Max Velocity 23438 rpm Max Accel 7812 5 rps Max Decel 7812 5 rps Clear Limits Abort Decel 7812 5 rps Set Default Limits Jerk 312500 rps Abort Jerk 312500 rps3 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 accelera
168. w Adjust target bandwidth then press start to tune velocity loop Cancel 8 Optionally adjust the Target Bandwidth TIP Increase bandwidth for more stiffness in the holding position Decrease bandwidth to eliminate buzzing or oscillations caused when the load is removed 137 Copley Controls Control Loops CME 2 User Guide 9 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 When the velocity loop has been tuned the status indicator turns green and the status box contains instructions for the next step A le dd 5 r e PPS Ct Velocity Loop Tune Done Target Bandwidth Bandwidth 70 Hz Higher Press next to tune position loop Position Loop Click Next to open the Position Loop Tune screen Position Loop Tune Move Type S Curve V 100 optimal settling and following vff Best Settling _ Best Following Ready Auto tune will attempt to make a 10mm move If your system is not vf 16384 capable of a 10mm move cancel now Pp 1000 Aff 0 Select move type then press start to tune position loop Copley Controls 138 CME 2 User Guide Control Loops 11 12 13 14 15 16 139 Verify the Move Type setting S Curve or Trap For a trapezoidal profile optionally optimize the tuning along the scale between Best Settling for quicker settling and Best
169. xample Stepper Amplifier with Encoder in Stepper Mode nennen 97 Auto Phase Example Stepper Amplifier with Encoder in Servo MOde eeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeeeeeeeeaaaaaaneeeeeeeeeees 98 10 2 Tips for Auto Phase Current and Increment Rate ccccccccccceeeceeeeeeeeeeeeceaeeeeeeeeeeaaeaeeeeeeeeaeaaeeeeeeesaeaaeeeseessaaseeeeesessaaees 100 10 3 Troubleshooting the Auto Phase Problems asx ee een 101 Motor alrScilon Slot ai 101 MOLOLWILING SEIIP Aka ea ice dur in 101 Phase count estara tasador aaa anal 101 A icdecusateccnseaentacasgeccaasaaanteoaievaxcasnsaptenusdasennsnnte ouadenxcesnsanterind saswenssnantennadaevanse nantanied aedeonse S 101 104 MANOS A ee A ee ds uae eed rea Eee er 102 Phase Initialization for Motor without Hals ee ee ee 103 Manual Phase Example Motor with Resolver cccecceeeeeeeeeneeeeeee eae eeeee cae eeeeeaaeeeeeeaaaeeeesaaaeeessaaaeeeseaaaeeessaaaeeessaaaeeessaes 104 Troubleshoot Manual Phase w Encoder and Halls ccccccccseeeseeeeeeeeeeeeeeeeeeeeaeesceeeeeceaaaaaeeeeeeseaaaaeeeeesesaeaseeeeeeeseegeeeeessesaaees 107 Data ACCURACY TOSI scinecs tres ccen is SNE 107 Encoder WINS ia A nee een 107 HallSsign lstest aussen ee rag E nde aos taiad era tates 107 ac A rer 107 EontrolL00PSs ne aliada 108 4 11 Curent Loop otup and LURING er nes ner es 109 11 2 CUTLINE 113 11 3 Notes on the Current Mode and Current Loop cccccccccccccceeeeeeeeseeeeeeeeeeseeeeeea
170. ype 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 sensors and encoder phase angle Motor Encoder Select type and source of motor feedback e None No motor encoder e Primary Incremental Incremental encoder on primary feedback connector e Secondary Incremental Incremental encoder on multi mode port e Panasonic Incremental A Format e SSI e EnDat e BiSS e Absolute A e Tamagawa Absolute A e Panasonic Absolute A Format e Panasonic Incremental A Format e Sanyo Denki Absolute A e Analog Analog encoder on primary feedback connector e Low Frequency Analog Copley ServoTube motor on primary feedback connector e Resolver Resolver R version of a Copley Controls amplifier on primary feedback connector Additional encoder types are supported by certain Copley Controls amplifier models See the amplifier data sheet for more information Position Encoder Select type and source of Position load feedback e None No position encoder e Primary Incremental Incremental encoder on primary feedback connector e Secondary Incremental Incremental encoder on multi mode Port e Analog Analog encoder on primary feedback connector Position Encoder Select the type of Position load encoder Type e Rotary e Linear Use Position Encoder When this is checked the position of the position encoder will be reported
171. yshev filter Example dB Rp 183 Copley Controls Filters CME 2 User Guide 16 7 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 o gt Filter Configuration o O mean Filter Settings Analog V Loop I Loop Input Shaping ee Time Amplitude Type Eae ir i Frequency 0 1 Hz 5 Damping Ratio 0 ver Currenting Ratio 1 are Costas Input Shaping Types Zero Vibration Single step inputs are replaced with two step inputs of smaller magnitude One of which is delayed by one half the period of vibration Sensitive to some modeling errors Zero Vibration and Derivative A zero derivative of the vibration constraint is added to Zero Vibration impulse shaping thereby reducing modeling errors Negative Zero Vibration Faster than positive input shaping Zero Vibration and Zero Vibration and Derivative but may magnify high frequency vibrations Negative Zero Vibration and A zero derivative of the vibration constraint is added to Negative Zero Vibration Derivative impulse shaping

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