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Cme user guide CME User Guide P N - Revision April CCME User Guide Contents About This Manual Related Documentation Copyrights Document Validity Product Warnings Revision History Introduction Host Computer Requirements Computer and Operating System Defaul

CME User Guide P N - Revision April CCME User Guide Contents About This Manual Related Documentation Copyrights Document Validity Product Warnings Revision History Introduction Host Computer Requirements Computer and Operating System Default File Locations Serial Communications CAN Communications With Copley CANopen Drives EtherCAT Communications With Copley EtherCAT Drives Overview Setup and Tuning Indexing Cam Tables Servo Operating Modes and Control Loops Control Loops Model Basic Attributes of All Servo Control Loops Installation Startup and Interface Tour Download and Install CME Software Special Notes for Windows Windows and Windows Installer Set up CME to run as administrator Start CME Communications Wizard Con ?gure Serial Ports Con ?gure CANopen Network Con ?gure EtherCAT Network Connect to an Ampli ?er Rename an Ampli ?er CME Interface Tour Main Menu Tool Bar Functional Diagram CAN Information and Status Bar Ampli ?er Setup Setup Procedure Warnings and Notes Setup Overview Change Setup Settings Motor Data Motor Data Screen Overview Rotary Motor Parameters Linear Motor Parameters Feedback Notes Encoder and Resolver Support Dual Feedback Calculate Use Speci ?cation Data Use Motor Plate Data Characterize and Tune Digital Inputs and Outputs Digital Inputs Digital Input Functions Digital Outputs Digital Output Functions ID Switch and Network LED SLI Custom Event Triggered Output Latched vs Non-Latched Custom Event Custom Trajectory Status Triggered Output Custom Position Triggered Output Output Regen settings Copley Controls CCME User Guide Synchronizing PWM Switching Frequency Analog I O Analog Motor Temperature Sensor Analog Output Command Inputs Analog Command Settings Analog Command Notes Scaling Dead Band O ?set Monitoring the Analog Command Voltage Analog Command in Position Mode PWM Input Settings Duty Cycle One- Wire Duty Cycle Two-Wire Failsafe Protection from or Duty Cycle Commands Digital Position Input Settings Pulse Smoothing Pulse and Direction Count Up Count Down Quadrature Software Programmed Input Settings Programmed Position Programmed Velocity Programmed Current Network Con ?guration CANopen Network MACRO Network EtherCAT Network Faults Overview Latched vs Non-latched Faults Example Fault Descriptions Motor Phasing Auto Phase Auto Phase Example Servo Ampli ?er Auto Phase Example Stepper Ampli ?er No Encoder Auto Phase Example Stepper Ampli ?er with Encoder in Stepper Mode Auto Phase Example Stepper Ampli ?er with Encoder in Servo Mode Tips for Auto Phase Current and Increment Rate Troubleshooting the Auto Phase Problems Motor direction setup Motor wiring setup Phase count test Halls wiring setup Manual Phase Phase Initialization for Motor without Halls Algorithmic Phase Initialization Mode Manual Phase Example Motor with Resolver Troubleshoot Manual Phase w Encoder and Halls Data accuracy test Encoder wiring test Hall signals test Hall transition test Control Loops Current Loop Setup and Tuning Current Loop Manual Tune Current Loop Auto Tune Notes on the Current Mode and Current Loop O ?set Limits Current Loop Gains Current Loop Output Velocity Loop Setup and Tuning Notes on the Velocity Mode and Velocity Loop Velocity Loop Diagram Inputs Copley Controls CCME User Guide Velocity Loop Limits Diagram E ?ects of Limits on Velocity Command Velocity Loop Gains Velocity Gains Shift Velocity Loop Filters Velocity Loop