User guide

Copley Controls 3
TABLE OF CONTENTS
About This Manual ................................................................................................................................................................................ 5
1: Introduction ................................................................................................................................................................................. 9
1.1: Host Computer Requirements .............................................................................................................................................. 10
1.2: Amplifier Commissioning Software ....................................................................................................................................... 11
1.3: Servo Operating Modes and Control Loops .......................................................................................................................... 11
2: Installation, Startup, and Interface Tour .................................................................................................................................. 13
2.1: Install CME 2 Software ......................................................................................................................................................... 14
2.2: Start CME 2 Software ........................................................................................................................................................... 15
2.3: Configure Serial Port Parameters ......................................................................................................................................... 16
2.4: Configure CAN Network Parameters .................................................................................................................................... 18
2.5: Configure EtherCAT Network Parameters ............................................................................................................................ 19
2.6: Connect to an Amplifier in CME 2 ......................................................................................................................................... 20
2.7: Rename an Amplifier ............................................................................................................................................................ 21
2.8: CME 2 Interface Tour ........................................................................................................................................................... 22
3: Amplifier Setup Procedure........................................................................................................................................................ 27
3.1: Warnings and Notes ............................................................................................................................................................. 28
3.2: Setup Procedure ................................................................................................................................................................... 29
4: Basic Setup ................................................................................................................................................................................ 33
4.1: Change Basic Setup Settings ............................................................................................................................................... 34
4.2: Motor Options ....................................................................................................................................................................... 35
4.3: Feedback Options ................................................................................................................................................................ 36
4.4: Operating Mode Options ....................................................................................................................................................... 37
4.5: Miscellaneous Options.......................................................................................................................................................... 38
4.6: ServoTube Setup .................................................................................................................................................................. 39
5: Motor/Feedback ......................................................................................................................................................................... 41
5.1: Motor/Feedback Screen Overview ........................................................................................................................................ 42
5.2: Load Motor/Feedback/Brake Settings from a File ................................................................................................................. 43
5.3: Rotary Motor Setup Parameters ........................................................................................................................................... 44
5.4: Linear Motor Setup Parameters ............................................................................................................................................ 45
5.5: Feedback Parameters, Rotary .............................................................................................................................................. 46
5.6: Feedback Parameters, Linear............................................................................................................................................... 50
5.7: Feedback Notes ................................................................................................................................................................... 52
5.8: Brake/Stop Parameters ........................................................................................................................................................ 53
5.9: Brake/Stop Notes ................................................................................................................................................................. 53
5.10: The Calculate Function ....................................................................................................................................................... 54
6: Digital Inputs and Outputs ........................................................................................................................................................ 55
6.1: Digital Inputs ......................................................................................................................................................................... 56
6.2: Digital Outputs ...................................................................................................................................................................... 59
6.3: Synchronizing PWM Switching Frequency ............................................................................................................................ 66
6.4: Analog I/O ............................................................................................................................................................................ 66
7: Command Inputs ....................................................................................................................................................................... 69
7.1: Analog Command Settings ................................................................................................................................................... 70
7.2: PWM Input Settings .............................................................................................................................................................. 73
7.3: Digital Position Input Settings ............................................................................................................................................... 76
7.4: Software Programmed Input Settings ................................................................................................................................... 78
8: Network Configuration .............................................................................................................................................................. 81
8.1: CAN Network ........................................................................................................................................................................ 82
8.2: MACRO Network .................................................................................................................................................................. 83
8.3: EtherCAT Network ................................................................................................................................................................ 85
9: Faults.......................................................................................................................................................................................... 87
9.1: Fault Configuration Parameters ............................................................................................................................................ 88
9.2: Fault Latching Notes ............................................................................................................................................................. 89
9.3: Position and Velocity Error Notes ......................................................................................................................................... 90
10: Motor Phasing ........................................................................................................................................................................... 93
10.1: Phase Motor with Auto Phase ............................................................................................................................................. 94
10.2: Guidelines for Choosing Auto Phase Current and Increment Rate Values ........................................................................ 103
10.3: Troubleshoot the Auto Phase Process .............................................................................................................................. 103
10.4: Phase Motor Manually ...................................................................................................................................................... 104
10.5: Troubleshoot Manual Phase w/ Encoder and Halls ........................................................................................................... 109
11: Control Loops .......................................................................................................................................................................... 111
11.1: Current Loop Setup and Tuning ........................................................................................................................................ 112
11.2: Current Loop Auto Tune ................................................................................................................................................... 115
11.3: Notes on the Current Mode and Current Loop .................................................................................................................. 118
11.4: Velocity Loop Setup and Tuning ....................................................................................................................................... 120
11.5: Notes on the Velocity Mode and Velocity Loop ................................................................................................................. 122
11.6: Position Loop Setup and Tuning ....................................................................................................................................... 124
11.7: Notes on the Position Mode and Position Loop................................................................................................................. 131
11.8: Auto Tune all Loops for Linear Motors .............................................................................................................................. 133
12: Stepper Controls ..................................................................................................................................................................... 139
12.1: Stepper Motor Support ..................................................................................................................................................... 140