User guide

Introduction CME 2 User Guide
12 Copley Controls
Basic Attributes of All Servo Control Loops
These loops share several common attributes:
Loop
Attribute
Description
Command
input
Every loop is given a value to which it will attempt to control. For example, the velocity loop
receives a velocity command that is the desired motor speed.
Limits
Limits are set on each loop to protect the motor and/or mechanical system.
Feedback
The nature of servo control loops is that they receive feedback from the device they are
controlling. For example, the position loop uses the actual motor position as feedback.
Gains
These are constant values that are used in the mathematical equation of the servo loop. The
values of these gains can be adjusted during amplifier setup to improve the loop
performance. Adjusting these values is often referred to as tuning the loop.
Output
The loop generates a control signal. This signal can be used as the command signal to
another control loop or the input to a power amplifier.
For more information on using CME 2 to set up and tune control loops, see Control Loops
(p. 111).