User guide

Copley Controls Corp. i
TABLE OF CONTENTS
About This Manual ............................................................................................................................................................................... iii
1: Introduction ................................................................................................................................................................................. 1
1.1: Amplifier ................................................................................................................................................................................. 2
1.2: CME 2 .................................................................................................................................................................................... 3
1.3: CMO/CML .............................................................................................................................................................................. 3
2: Operational Theory...................................................................................................................................................................... 5
2.1: Amplifier Internal Power.......................................................................................................................................................... 6
2.2: Synchronizing PWM Switching Frequency.............................................................................................................................. 8
2.3: Commutation Modes .............................................................................................................................................................. 8
2.4: Feedback................................................................................................................................................................................ 8
2.5: Operating Modes .................................................................................................................................................................... 9
2.6: CANopen Operation ............................................................................................................................................................. 20
2.7: Limit Switches ...................................................................................................................................................................... 22
2.8: Brake Operation ................................................................................................................................................................... 23
2.9: Status Indicators................................................................................................................................................................... 24
2.10: Protection ........................................................................................................................................................................... 26
2.11: Position and Velocity Errors................................................................................................................................................ 28
2.12: Communication .................................................................................................................................................................. 31
2.13: Inputs ................................................................................................................................................................................. 32
2.14: Outputs............................................................................................................................................................................... 33
2.15: Regen Resistor Theory....................................................................................................................................................... 34
3: Specifications............................................................................................................................................................................ 35
3.1: Agency Approvals................................................................................................................................................................. 36
3.2: Power Input .......................................................................................................................................................................... 36
3.3: Power Output........................................................................................................................................................................ 36
3.4: Control Loops ....................................................................................................................................................................... 37
3.5: Regen Circuit Output ............................................................................................................................................................ 37
3.6: Digital Command Input ......................................................................................................................................................... 37
3.7: Analog Command Input........................................................................................................................................................ 38
3.8: Digital Inputs......................................................................................................................................................................... 38
3.9: Digital Outputs...................................................................................................................................................................... 38
3.10: Brake Output ...................................................................................................................................................................... 39
3.11: Encoder Power Supply Output............................................................................................................................................ 39
3.12: Primary Encoder Inputs ...................................................................................................................................................... 39
3.13: Analog Encoder Inputs ....................................................................................................................................................... 39
3.14: Hall Switch Inputs............................................................................................................................................................... 40
3.15: Resolver Interface .............................................................................................................................................................. 40
3.16: Multi-Mode Port .................................................................................................................................................................. 40
3.17: Serial Interface ................................................................................................................................................................... 41
3.18: CAN Interface..................................................................................................................................................................... 41
3.19: Status Indicators................................................................................................................................................................. 41
3.20: Fault Levels ........................................................................................................................................................................ 41
3.21: Power Dissipation............................................................................................................................................................... 42
3.22: Thermal Impedance............................................................................................................................................................ 42
3.23: Mechanical and Environmental........................................................................................................................................... 42
3.24: Dimensions......................................................................................................................................................................... 43
4: Wiring......................................................................................................................................................................................... 45
4.1: General Wiring Instructions .................................................................................................................................................. 46
4.2: AC Mains (J1)....................................................................................................................................................................... 48
4.3: Motor (J2)............................................................................................................................................................................. 49
4.4: Regen Resistor (J3) (Optional) ............................................................................................................................................. 51
4.5: Logic Supply / Brake (J4)...................................................................................................................................................... 52
4.6: RS-232 Serial Communications (J5)..................................................................................................................................... 53
4.7: CAN Bus (J6) ....................................................................................................................................................................... 54
4.8: Control (J7)........................................................................................................................................................................... 55
4.9: Motor Feedback (J8)............................................................................................................................................................. 59
5: Quick Setup with CME 2 ........................................................................................................................................................... 65
5.1: Warnings .............................................................................................................................................................................. 66
5.2: CME 2 Installation and Serial Port Setup.............................................................................................................................. 67
5.3: Prerequisites ........................................................................................................................................................................ 71
5.4: Basic Setup .......................................................................................................................................................................... 73
5.5: Motor/Feedback Setup ......................................................................................................................................................... 76
5.6: Amplifier Configuration ......................................................................................................................................................... 85
5.7: Command Input.................................................................................................................................................................... 95
5.8: Auto Phase......................................................................................................................................................................... 102
5.9: Current Loop....................................................................................................................................................................... 108
5.10: Velocity Loop.................................................................................................................................................................... 112
5.11: Position Loop.................................................................................................................................................................... 114
5.12: Completion Steps ............................................................................................................................................................. 118
6: Using CME 2 ............................................................................................................................................................................ 119