User guide

CME 2 User Guide Motor/Feedback
Copley Controls 45
5.4: Linear Motor Setup Parameters
View or change the settings described below. Options vary with amplifier model. Metric
units are shown here.
Setting
Description
Manufacturer
Motor maker’s name. Saved in the motor data file. Choose from list or enter manually.
Model Number
Motor model number. Saved in the motor data file. Choose from list or enter manually.
Units
Selects whether the parameters entered in this screen are in Metric or English units.
Mass
The mass of the motor. Used for calculating initial velocity loop tuning values.
Range: .0001 Kg to 100,000 Kg. Default: .0001 Kg.
Peak Force
The peak force that the motor can produce. Peak Force divided by Force Constant =
motor’s peak current limit. Range: 0.00001 to 2,000 N. Default: 0.00001 N.
Continuous Force
The continuous force that the motor can produce. Used with the force constant to
calculate continuous current. Range: 0.00001 to 1,000 N. Default: 0.00001 N.
Velocity Limit
Maximum speed of the motor. Used to calculate the velocity and acceleration limits for
the velocity loop. Range dependent on encoder resolution.
Force Constant
Relates the motor's input current to force produced. Sometimes abbreviated as Kf.
Range: 0.00001 to 2,000 N/Amp. Default: 0.00001 N/Amp.
Back emf
Constant
Relates the motor's input voltage to speed. Sometimes abbreviated as Ke. Used for
calculating maximum velocity for a given amplifier voltage. Range: 0.01 to 1,000
V/M/Sec. Default: 0.01 V/M/Sec.
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.
Magnetic Pole
Pair Length
The length of a pair of magnets which equals the distance moved in one electrical
cycle of the motor.
Stepper Amplifiers Only
Rated Force
Motor’s rated operating force. Min .001 N. Max 1000 N.
Rated Current
Motor’s rated continuous current. Min: 0.01 A. Max 1000 A.
Full Step
Fundamental stepper motor step distance. Min: 0.0001mm. Max: 5000 mm.
Microsteps/
Full Step
Number of microsteps per full step. Min: 1. Max: 100,000,000.