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This chapter describes set up and tuning steps that are particular to stepper amplifiers. The basic operations are listed below. Details follow in the chapter.   Set Position Limits in Stepper Mode (p. 123). Set Encoder Correction Gain (p. 125). Tune Stepper D...

Set homing parameters and run optional homing tests. Perform the steps outlined below.  1. On Main screen, click Home to open the Homing screen 2 Select the following homing parameters:  3 Optionally click Home to begin a homing sequence. To stop immediately...

Become familiar with the CME 2 Control Panel and its functions. Perform the steps outlined below to access the panel and its functions. Details follow in chapter.1 Click to open the Control Panel: 2 See this chapter for a Control Panel Overview and details on...

This chapter shows how to use the CME 2 Scope Tool to program and test motion sequences. Perform the steps outlined below to access the Scope Tool. Details follow in the chapter. 1 Click to open the Scope Tool: 2 See this chapter for a Scope Tool Overview and...

This chapter describes how CME 2 manages amplifier data and firmware, how to download firmware, and use the amplifier logs. Amplifier RAM and Flash Memory Disk Storage of Amplifier and Motor Data Files Data Management Tools Amplifier Firmware Error Log  Commun...

Virtual amplifiers can be used for training and for creating motor data files off line.A new virtual amplifier can be created based on a virtual amplifier template file (.ccv). CME 2 includes a set of .ccv files representing Copley Controls amplifiers. Perform...

Perform steps 1-5 to configure an amplifier/motor pair by copying a .ccx file that was prepared for the amplifier/motor combination.To load a CVM Program file as well, also perform step 6, and to load a Cam Table file, also perform step 7.1 Make sure the ampli...

Optionally lock CME 2 to prevent changes to amplifier settings.TIP: Lock CME 2 to prevent accidental changes to settings when copying amplifier files.  1 On the Main screen choose ToolsCME 2 Lock/Unlock. 2 Set a new password in the Password and Verify Password...

This chapter describes the algorithm used to implement the I2T limit.  C.1: I2 T AlgorithmC.1.1: I2 T OverviewThe I2 T current limit algorithm continuously monitors the energy being delivered to the motor using the I2 T Accumulator Variable. The value stored i...

CME 2 supports 2 classes of filters on the analog input and on the Velocity Loop command and output: the Low-Pass and the Custom Bi-Quad. The Low-Pass filter class includes the Single-Pole and the Two-Pole Butterworth filter types.  Set Filter Parameters:  1  ...

This appendix describes the homing methods that can be chosen using the CME 2 homing controls described in Homing E.1: Homing Methods OverviewThere are several homing methods. Each method establishes the:• Home reference (limit or home switch transition or enc...

Configure a Custom Regen Resistor1 Click Regen Settings to open the Regen Settings screen 2 If configuring a standard Copley Controls regen resistor, select the model number and click Finish to save the configuration and close the screen.Otherwise, continue.3...

This chapter describes how to configure and operate an amplifier by sending ASCII commands over the serial bus. Contents include:The Copley ASCII InterfaceCME 2 ASCII Command Line Interface ToolSingle-Axis Serial ConnectionMulti-Drop Serial ConnectionCOMPATIBI...

The Gain Scheduling feature allows you to schedule gain adjustments based on changes to a key parameter. For instance, Pp, Vp, and Vi could be adjusted based on changes to commanded velocity.Gain adjustments are specified in a Gain Scheduling Table. Each table...

This chapter provides an overview of Copley Motion Objects 1.1: Windows-Based Control of Copley Amplifiers1.1.1: Simplified Access to CANopen FunctionsThe Copley Motion Objects simplify creation of Windows-based software for the control of Copley Controls ampl...

This chapter describes the installation of Copley Motion Objects on a PC.  2.1: Installation OverviewThe procedures described in this chapter copy the Copley Motion Objects, examples, and documentation to the target PC. They also register the Copley Motion Obj...

Before exploring any of the Copley Motion Objects sample programs or developing a new program, the programmer should be familiar with the contents of this chapter.  3.1: Before Running a Copley Motion Objects ProgramThe following general steps must be complete...

This appendix describes the CANopen network object.NOTE: Unless otherwise stated, all properties described in this appendix have read/write access. All methods return an HRESULT. In the event of an error, CMO reports the error in the form of COM-compatible err...