User guide

Table of Contents CME 2 User Guide
4 Copley Controls
12.2: Position Limits (Stepper Amplifier) .................................................................................................................................... 140
12.3: Encoder Correction ........................................................................................................................................................... 142
13: Homing ..................................................................................................................................................................................... 145
14: Control Panel ........................................................................................................................................................................... 147
14.1: Control Panel Overview .................................................................................................................................................... 148
14.2: Status Indicators and Messages ....................................................................................................................................... 148
14.3: Control Panel Monitor Channels ....................................................................................................................................... 149
14.4: Control Functions ............................................................................................................................................................. 150
14.5: Jog Mode .......................................................................................................................................................................... 151
15: Scope Tool ............................................................................................................................................................................... 153
15.1: Scope Tool Overview ........................................................................................................................................................ 154
15.2: Function Generator and Profile Tabs ................................................................................................................................ 155
15.3: Trace Channel Variable Parameters ................................................................................................................................. 156
15.4: Trigger Setup .................................................................................................................................................................... 157
15.5: Trace Time, Sample Rate and Single Trace ..................................................................................................................... 158
15.6: Scope Display Parameters ............................................................................................................................................... 158
15.7: Auto Setup ........................................................................................................................................................................ 159
15.8: Measurement Tab ............................................................................................................................................................ 160
15.9: Control Loop Parameters .................................................................................................................................................. 161
15.10: Scope Files ..................................................................................................................................................................... 164
16: Data, Firmware, and Logs ....................................................................................................................................................... 167
16.1: Amplifier RAM and Flash Memory .................................................................................................................................... 168
16.2: Disk Storage of Amplifier and Motor Data Files ................................................................................................................ 168
16.3: Data Management Tools .................................................................................................................................................. 169
16.4: Amplifier Firmware ............................................................................................................................................................ 170
16.5: Error Log .......................................................................................................................................................................... 172
16.6: Communications Log ........................................................................................................................................................ 173
17: Virtual Amplifier ....................................................................................................................................................................... 175
A: Copy Amplifier Data................................................................................................................................................................. 177
B: Lock/Unlock CME 2 Controls .................................................................................................................................................. 179
C: Filters ....................................................................................................................................................................................... 181
C.1: Setting Parameters ............................................................................................................................................................ 182
C.2: Filter Configuration Windows ............................................................................................................................................. 182
C.3: Standard Filter Types ......................................................................................................................................................... 184
C.4: Standard Filter Families ..................................................................................................................................................... 186
C.5: Input Shaping ..................................................................................................................................................................... 187
D: I
2
T Time Limit Algorithm ......................................................................................................................................................... 191
D.1: I
2
T Algorithm ...................................................................................................................................................................... 192
D.2: I
2
T Scope Trace Variables ................................................................................................................................................. 195
E: Homing Methods ..................................................................................................................................................................... 197
E.1: Homing Methods Overview ................................................................................................................................................ 198
E.2: Legend to Homing Method Descriptions ............................................................................................................................. 198
E.3: Homing Method Descriptions ............................................................................................................................................. 199
F: Regen Resistor Configuration ................................................................................................................................................ 213
G: ASCII Commands/Serial Control ............................................................................................................................................ 217
G.1: Copley ASCII Interface ...................................................................................................................................................... 218
G.2: CME 2 ASCII Command Line Interface Tool ...................................................................................................................... 218
G.3: Single-Axis Serial Connection ............................................................................................................................................ 219
G.4: Multi-Drop Serial Connection ............................................................................................................................................. 219
H: Gain Scheduling ...................................................................................................................................................................... 221
H.1: Configure Gain Scheduling ................................................................................................................................................ 222
H.2: Set Up the Gain Scheduling Table(s) ................................................................................................................................. 223
H.3: Gain Scheduling Table Guidelines ..................................................................................................................................... 227