User guide

Copley Controls Corp. 65
CHAPTER
5: QUICK SETUP WITH CME 2
This chapter describes the general procedure for configuring and tuning an amplifier with a motor.
(To copy setup data from an existing Copley Controls axis file (.ccx), skip to Quick Copy Setup Procedure (p. 127).
Step Page
5.1: Warnings .............................................................................................................................................................................. 66
5.2: CME 2 Installation and Serial Port Setup.............................................................................................................................. 67
5.2.1: Requirements .......................................................................................................................................................... 67
5.2.2: Special Notes for Vista Users .................................................................................................................................. 67
5.2.3: Downloading Software from Web (Optional) ............................................................................................................ 68
5.2.4: Installing CME 2 Software........................................................................................................................................ 68
5.2.5: Serial Port Setup...................................................................................................................................................... 69
5.3: Prerequisites ........................................................................................................................................................................ 71
5.3.1: Hardware and Equipment ........................................................................................................................................ 71
5.3.2: Starting CME 2 and Choosing an Amplifier.............................................................................................................. 72
5.4: Basic Setup .......................................................................................................................................................................... 73
5.4.1: Basic Setup Screen ................................................................................................................................................. 73
5.5: Motor/Feedback Setup ......................................................................................................................................................... 76
5.5.1: Load Motor/Feedback/Brake Settings from a File .................................................................................................... 76
5.5.2: Enter Motor/Feedback/Brake Settings Manually ...................................................................................................... 77
5.5.3: Rotary Motor Setup Parameters .............................................................................................................................. 78
5.5.4: Linear Motor Setup Parameters ............................................................................................................................... 79
5.5.5: Feedback Parameters, Rotary ................................................................................................................................. 80
5.5.6: Feedback Parameters, Linear.................................................................................................................................. 81
5.5.7: Feedback Notes....................................................................................................................................................... 82
5.5.8: Brake/Stop Parameters ........................................................................................................................................... 83
5.5.9: The Calculate Function............................................................................................................................................ 84
5.6: Amplifier Configuration ......................................................................................................................................................... 85
5.6.1: Digital Inputs............................................................................................................................................................ 85
5.6.2: Digital Input Functions ............................................................................................................................................. 86
5.6.3: Standard Input Function Assignments ..................................................................................................................... 86
5.6.4: Standard Digital Outputs.......................................................................................................................................... 87
5.6.5: Custom Digital Output Settings: Custom Event........................................................................................................ 88
5.6.6: Custom Digital Output Settings: Custom Trajectory Status...................................................................................... 90
5.6.7: Custom Digital Output Settings: Position Triggered Output...................................................................................... 91
5.6.8: Save Input/Output Changes..................................................................................................................................... 91
5.6.9: Non-Latched and Latched Custom Outputs ............................................................................................................. 92
5.6.10: Fault Latching ........................................................................................................................................................ 93
5.6.11: Regen Resistor...................................................................................................................................................... 94
5.7: Command Input.................................................................................................................................................................... 95
5.7.1: Analog Input ............................................................................................................................................................ 96
5.7.2: PWM Input............................................................................................................................................................... 98
5.7.3: Digital Position Input ................................................................................................................................................ 99
5.7.4: CAN Interface........................................................................................................................................................ 101
5.8: Auto Phase......................................................................................................................................................................... 102
5.8.1: Auto Phase Warnings and Notes........................................................................................................................... 102
5.8.2: Auto Phase Procedure........................................................................................................................................... 103
5.8.3: Guidelines for Choosing Auto Phase Current and Increment Rate Values............................................................. 107
5.8.4: Trouble Shoot Motor Direction Setup ..................................................................................................................... 107
5.8.5: Trouble Shoot Motor Wiring Setup......................................................................................................................... 107
5.8.6: Trouble Shoot Halls Wiring Setup.......................................................................................................................... 107
5.8.7: Trouble Shoot Other Problems .............................................................................................................................. 107
5.9: Current Loop....................................................................................................................................................................... 108
5.9.1: Current Loop Settings............................................................................................................................................ 108
5.9.2: Auto Tune the Current Loop................................................................................................................................... 109
5.10: Velocity Loop.................................................................................................................................................................... 112
5.10.1: Velocity Loop Settings ......................................................................................................................................... 112
5.10.2: Manually Tune the Velocity Loop ......................................................................................................................... 113
5.11: Position Loop.................................................................................................................................................................... 114
5.11.1: Position Loop Settings ......................................................................................................................................... 114
5.11.2: Manually Tune the Position Loop ......................................................................................................................... 115
5.11.3: Test S-Curve Profile............................................................................................................................................. 117
5.12: Completion Steps ............................................................................................................................................................. 118