3. AMPLIFIER SETUP PROCEDURE

Perform the steps listed below, in the order presented, to set up and tune an amplifier/motor pair. Details follow in the chapter. 

1 Prepare for setup
2 Start CME 2 and enter Basic Setup parameters
3 Enter Motor/Feedback/Brake Stop parameters 
4 Use Calculate to automatically set initial gains and limits
5 Configure digital I/O 
6 Configure the command input
7 Configure faults 
8 Configure an optional regen resistor
9 Phase and jog the motor
10 Tune the control loops
11 Set gains and limits for stepper mode (stepper only)
12 Configure Homing
13 Test with load attached

NOTES: ServoTube motor setup steps are included within this procedure. 

3.1: Warnings and Notes
NOTE: To immediately software disable the amplifier at any time while running CME 2, press function key F12. Also, the amplifier’s enable input can be used to disable the amplifier.
DANGER: Hazardous voltages.
Exercise caution when installing and adjusting.
Do not make connections to motor or drive with power applied.
Risk of unexpected or uncontrolled motion with CME 2 in CAN or DeviceNet mode.

CME 2 can be used while the amplifier is under CAN or DeviceNet control. However, some extreme changes made with CME 2 could cause unexpected or uncontrolled motion.
Failure to heed these warnings can cause equipment damage, injury, or death.
Spinning motor with power off may damage amplifier.

Do not spin motors with power off. Voltages generated by a motor can damage an amplifier.
Failure to heed this warning can cause equipment damage. 

3.2: Setup Procedure
1 Prepare for setup
 Understand this procedure’s Warnings and Notes (p. 24).
 Verify that amplifier power is OFF.
 Verify wiring and connections.
 Make sure motor is securely fastened with no load connected.
 Apply power to the amplifier.
 For Xenus amplifiers apply 24V only.
 For Accelnet, or Stepnet: amplifiers apply AUX HV only.
2 Start CME 2 and enter Basic Setup parameters 

Double-click CME 2 icon on the Windows desktop to start CME 2.
 If necessary, Connect to an Amplifier  from the list in the Copley Neighborhood tree.

 If the Basic Setup screen does not appear, click the Basic Setup button.

Choose: 

In most cases, click Change Settings to Change Basic Setup Settings
Then proceed to Step 3 of this Setup Procedure, Enter Motor/Feedback/Brake Stop parameters
OR

To load a .ccx file that was prepared for the amplifier/motor combination, see Copy Amplifier Data. Then proceed to Step 13 of this Setup Procedure, Test with load attached (p. 28).
OR

To complete the setup for a ServoTube motor, click ServoTube Setup and see ServoTube Setup

3 Enter Motor/Feedback/Brake Stop parameters

Click Motor/Feedback to open the Motor/Feedback screen.
To optionally load data from an existing motor data file, see Load Motor/Feedback/Brake Settings from a File and then skip to Step 4, Use Calculate to automatically set initial gains and limits
OR 

On the Motor tab, modify the appropriate Rotary Motor Setup Parameters or Linear Motor Setup Parameters 
On the Feedback tab, as appropriate for each encoder or resolver, verify the parameters described in Feedback Parameters, Rotary or Feedback Parameters, Linear
If using a brake, click the Brake/Stop tab to verify Brake/Stop Parameters

4 Use Calculate to automatically set initial gains and limits

Click Calculate to have the software calculate and display initial loop gains and limits. See The Calculate Function
Load the calculated values into amplifier RAM by clicking OK.

5 Configure digital I/O

Click Input/Output on the Main screen to open the Input/Output screen. Verify the I/O settings described in Digital Inputs and Outputs
On the Input/Output screen, click Close.

6 Configure the command input

or or or

Click the appropriate button to configure the amplifier’s command input. For more information see Command Inputs.
NOTE: If the amplifier is to run CVM programs or in Camming mode see the relevant documents.
After setting command input parameters, Click Close.

7 Configure faults

Click Configure Faults to open the Fault Configuration screen and set latching faults as needed. See Faults
Click OK to close the Fault Configuration screen. 

8 Configure an optional regen resistor

If the amplifier is equipped with a regen resistor, click Regen Settings to open the Regen Settings screen. See Regen Resistor Configuration for regen resistor parameters.
Click OK to close the Regen Settings screen. 

9 Phase and jog the motor
 Apply AC or HV power.

Phase Motor with Auto Phase
 To verify Auto Phase results, Phase Motor Manually
 Run a move in jog mode  to verify that the amplifier can drive the motor.

10 Tune the control loops
Starting with the Current Loop set up and tune all applicable Control Loops . If you are setting up a linear motor, you can optionally Tune All Loops with Auto Tune (Linear Motors) instead.

11 Set gains and limits for stepper mode (stepper only)
 If tuning a stepper amplifier in stepper mode:
 Set Position Limits in Stepper Mode
 If using Encoder Correction, Set Encoder Correction Gain
 Tune Stepper Detent Gain

12 Configure Homing
 Configure Homing

13 Test with load attached

On the CME 2 Main screen, click Save to Flash.
 Remove amplifier power.
 Attach load.
 Reconnect amplifier power.
 If necessary, re-tune velocity and position loops.

On the CME 2 Main screen, click Save to Flash.

On the CME 2 Main screen, click Save to Disk (for backup or duplication).
 The amplifier tuning procedure is complete.
NOTE: To copy the results of this setup to other amplifiers, see Copy Amplifier Data