User guide

Xenus XTL User Guide Using CME 2
Copley Controls Corp. 133
6.4.4: Control Functions
The Control area of the screen, shown here, provides functions related to overall amplifier control.
The screen options are different when the Position Loop Input is CAN.
Control the operational state of the amplifier using the buttons described below.
Control Description
Enable Click to software enable the amplifier.
Disable Click to software disable the amplifier.
Set Zero Position Click to set the amplifier’s actual position counter to zero.
Clear Faults Click to clear all amplifier faults.
Reset Click to reset the amplifier.
Risk of unexpected or uncontrolled motion.
!
WARNING
Using the CME 2 Set Zero Position function while the amplifier is operating under
CANopen control could cause unexpected or uncontrolled motion.
Failure to heed this warning can cause equipment damage.
6.4.5: Jog Mode
Jog mode provides a simple way to generate forward or reverse commands as described here:
6.4.5.1 To put the amplifier in jog mode, set the Enable Jog option.
6.4.5.2 Set up a jog move by setting the following mode-specific parameters:
Mode Parameter Description
Current Current applied to the motor. Limited by current loop Continuous Current.
Warning: Unloaded motors may, depending on torque setting, ramp up in
speed very quickly.
Current
Current Ramp The rate at which the current will increase and decrease.
Velocity
Jog Speed Velocity of the jog move. Limited by velocity loop Vel. Limit.
Velocity Velocity of the jog move. Limited by velocity loop Vel. Limit.
Acceleration Acceleration limit of the jog move.
Position
Deceleration Deceleration limit of the jog move.
6.4.5.3 Command the move.
Mode Steps
Current
• Hold Pos to apply positive current to the motor or hold down Neg to apply negative current
to the motor.
• Release the button to command zero current.
Velocity
• Hold Jog Pos to command a forward velocity or hold down Jog Neg to command a
negative velocity.
• Release the button to command zero velocity.
Position
• Hold Move Pos to generate a forward move profile or hold Move Neg to generate a
negative move profile.
• Release the button to stop movement.
NOTE: A position mode jog move continuously updates the commanded position. If a
following error develops with Following Error Fault is disabled, motion will not stop on button
release. Instead, it stops when actual position = commanded position.