User guide

Quick Setup with CME 2 Xenus XTL User Guide
78 Copley Controls Corp.
5.5.3: Rotary Motor Setup Parameters
View or change the settings described below. Options vary with amplifier model. Metric units are
shown here.
S
etting Description
Manufacturer Motor manufacturer’s name. Saved for reference in the motor data file.
Model Number Motor model number. Saved for reference in the motor data file.
Units Selects whether the parameters entered in this screen are in Metric or English units.
Motor Inertia The rotor inertia of the motor. Used for calculating initial velocity loop tuning values. Range:
0.00001 to 4,294 kg cm
2
. Default: 0.00001 kg-cm
2.
Number of Poles (Brushless only.) The number of magnetic poles in the motor. Required for correct
commutation of the motor. Range: 2 to 200. Default: 4.
Peak Torque The peak torque that the motor can produce. Peak Torque divided by torque constant =
motor’s peak current limit. Range: 0.001 to 2,100 Nm. Default: 0.0001 Nm.
Continuous Torque The continuous torque that the motor can produce. Used with the torque constant to calculate
continuous current. Range: 0.001 to 1,000 Nm. Default: 0.0001 Nm.
Velocity Limit Maximum speed of the motor. Used to calculate the velocity and acceleration limits for the
velocity loop. Range dependent on encoder resolution.
Torque Constant Relates the motor's input current to torque produced. Sometimes abbreviated as Kt. Range:
0.001 to 1,000 Nm/Apk. Default: 0.001 Nm/Apk.
Back emf Constant Relates the motor's input voltage to speed. Sometimes abbreviated as Ke. Used for
calculating the maximum velocity for a given amplifier bus voltage.
Range: 0.01 to 21,000,000 V/Krpm. Default: 0.01 V/Krpm.
Resistance Motor resistance line-to-line. Used for calculating the initial current loop tuning values. Range:
0.01 to 327 . Default: 0.01 .
Inductance Motor inductance line-to-line. Used for calculating the initial current loop tuning values.
Range: see Power Output (p. 36).