User guide

Motor/Feedback CME 2 User Guide
44 Copley Controls
5.3: Rotary Motor Setup Parameters
View or change the settings described below. Options vary with amplifier model. Metric
units are shown here.
Setting
Description
Manufacturer
Motor manufacturer’s name. Saved for reference in the motor data file.
Model Number
Motor model number. Saved for reference in the motor data file.
Units
Selects whether the parameters entered in this screen are in Metric or English units.
Motor Inertia
The rotor inertia of the motor. Used for calculating initial velocity loop tuning values.
Range: 0.00001 to 4,294 kg cm
2
. Default: 0.00001 kg-cm
2.
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 (p. 109). 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: 0.0001 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 .
Inductance
Motor inductance line-to-line. Used for calculating the initial current loop tuning values.
Range: see the hardware documentation.
Stepper Amplifiers Only
Rated Torque
Motor’s rated operating torque. Min: .001. Max: 1000.
Rated Current
Motor’s rated continuous current. Min: 0.001. Max: 1000.
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.