User guide

Basic Setup CME 2 User Guide
38 Copley Controls
4.5: Miscellaneous Options
View or change the settings described below. Options vary with amplifier model.
Setting
Description
Commutation
Commutation method: Sinusoidal, Trapezoidal, or Estimated Sinusoidal.
Use back EMF for
Velocity
If selected, will use the motor’s measured back EMF to determine motor
velocity. Recommended only for medium- to high-speed. Accuracy
depends on the accuracy of the programmed Back EMF value, and may
be affected by factors such as cable resistance.
Use Halls for
Velocity and
Position
If selected, will use transitions of the Hall switches to determine motor
velocity and position. Recommended only for medium- to high-speed
applications (may run roughly at low speeds).
Multi-mode Port
Selects the mode for the amplifier’s multi-mode port:
 Buffered Motor Encoder. The multi-mode port functions as a buffered
digital encoder output based on the digital encoder input.
 Emulated Motor Encoder. The multi-mode port functions as an emulated
digital encoder output based on the motor analog encoder or motor
resolver.
 Emulated Position Encoder. The multi-mode port functions as an
emulated digital encoder output based on the position analog encoder.
 Differential Input. The multi-mode port functions as a differential
command input.