User guide

Quick Setup with CME 2 Xenus XTL User Guide
116 Copley Controls Corp.
5.11.2.2 Set up a trapezoidal profile by setting the trajectory limits and distance. See table:
Trajectory Limits Tab
Parameter Description
Maximum
Velocity
Maximum
Acceleration
Maximum
Deceleratio
n
Set values typical of those expected to be used in the application.
Profile Tab
Distance Set the move distance to produce a complete trajectory profile. Be sure that this distance does
not exceed mechanical limits of the system.
Move Relative
Type Trap
5.11.2.3 Adjust position proportional gain (Pp) to minimize following error. Note that too much
position loop proportional gain (Pp) might cause oscillation.
1 On the Gains tab, set velocity feed forward (Vff) and acceleration feed forward (Aff) to
zero.
2 On the Profile tab, click Start. On the Gains tab, adjust position loop proportional gain
(Pp) until best result is obtained.
3 Click Start after each adjustment to test the new value on a new profile move.
NOTE: If a following error occurs, open the CME 2 Control Panel (
) and click Clear
Faults.
5.11.2.4 Adjust velocity feed forward (Vff):
Velocity feed forward (Vff) reduces following error in the constant velocity portion of the
profile. Often, a velocity feed forward (Vff) value of 16384 (100%) provides best results.
1 Click in the Vff field and adjust the value.
2 Click Start after each adjustment to test the new value on a new profile move.
5.11.2.5 Adjust acceleration feed forward (Aff):
Acceleration feed forward (Aff) reduces following error during profile acceleration and
deceleration.
1 Click in the Aff field and adjust the value.
2 Click Start after each adjustment to test the new value 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., slow 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
Velocity Loop Command Filter may be used to reduce the noise further. See the CME
2 User Guide for more information about the velocity loop filters.
5.11.2.6 Tune to multiple sets of profiles representing typical moves that might be executed in the
application. Starting with Set up a trapezoidal profile, repeat the process as needed.