Copley Controls Corp.
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TABLE OF CONTENTS
About This Manual ................................................................................................................................................................................ 8
Overview and Scope............................................................................................................................................................ 8
Related Documentation ....................................................................................................................................................... 8
Comments ........................................................................................................................................................................... 8
Copyrights ........................................................................................................................................................................... 8
Document Validity................................................................................................................................................................ 8
Product Warnings ................................................................................................................................................................ 9
Revision History................................................................................................................................................................. 10
1:
Introduction ............................................................................................................................................................................... 11
1.1: Amplifier ............................................................................................................................................................................... 12
1.2: CME 2 .................................................................................................................................................................................. 13
1.3: CMO/CML ............................................................................................................................................................................ 13
2:
Operational Theory.................................................................................................................................................................... 15
2.1: Amplifier Internal Power........................................................................................................................................................ 16
2.1.1: Logic/Signal Power .................................................................................................................................................. 16
2.1.2: High Voltage ............................................................................................................................................................ 16
2.1.3: Power and Grounding Diagram................................................................................................................................ 17
2.2: Synchronizing PWM Switching Frequency............................................................................................................................ 18
2.3: Commutation Modes ............................................................................................................................................................ 18
2.4: Feedback.............................................................................................................................................................................. 18
2.4.1: Encoder and Resolver Support ................................................................................................................................ 18
2.4.2: Secondary Encoder Interface................................................................................................................................... 18
2.5: Operating Modes .................................................................................................................................................................. 19
2.5.1: Modes and Control Loops ........................................................................................................................................ 19
2.5.2: Current Mode and Current Loop .............................................................................................................................. 20
2.5.3: Velocity Mode and Velocity Loop ............................................................................................................................. 22
2.5.4: Position Mode and Position Loop............................................................................................................................. 24
2.5.5: Input Command Types ............................................................................................................................................ 25
2.5.6: Analog Command Input ........................................................................................................................................... 25
2.5.7: PWM Input............................................................................................................................................................... 27
2.5.8: Digital Input.............................................................................................................................................................. 28
2.5.9: CVM Program .......................................................................................................................................................... 29
2.6: CANopen Operation ............................................................................................................................................................. 30
2.6.1: CAN Network and CANopen Profiles for Motion ...................................................................................................... 30
2.6.2: Supported CANopen Modes .................................................................................................................................... 30
2.6.3: Architecture ............................................................................................................................................................. 31
2.6.4: CAN Addressing ...................................................................................................................................................... 31
2.7: Limit Switches ...................................................................................................................................................................... 32
2.7.1: Use Digital Inputs to Connect Limit Switches........................................................................................................... 32
2.7.2: Diagram: Sample Placement of Limit Switches........................................................................................................ 32
2.7.3: How the Amplifier Responds to Limit Switch Activation............................................................................................ 32
2.7.4: Using Custom Output to Signal Limit Switch Activation ........................................................................................... 32
2.8: Brake Operation ................................................................................................................................................................... 33
2.8.1: Digital Output Controls Brake................................................................................................................................... 33
2.8.2: Brake/Stop Sequences ............................................................................................................................................ 33
2.9: Status Indicators................................................................................................................................................................... 34
2.9.1: Amplifier and CAN Interface Status Indicators ......................................................................................................... 34
2.9.2: Amplifier Status Indicator Operation ........................................................................................................................ 34
2.9.3: CAN Interface Status Indicator Operation ................................................................................................................ 35
2.10: Protection ........................................................................................................................................................................... 36
2.10.1: Faults..................................................................................................................................................................... 36
2.11: Position and Velocity Errors................................................................................................................................................ 38
2.11.1: Error-Handling Methods ......................................................................................................................................... 38
2.11.2: Following Error Faults ............................................................................................................................................ 38
2.11.3: Following Error Warnings....................................................................................................................................... 38
2.11.4: Position and Velocity Tracking Windows................................................................................................................ 38
2.11.5: Following Error Fault Details .................................................................................................................................. 39
2.11.6: Tracking Window Details ....................................................................................................................................... 40
2.12: Communication .................................................................................................................................................................. 41
2.12.1: Communication Interfaces ..................................................................................................................................... 41
2.12.2: CME 2 and CAN Operation.................................................................................................................................... 41
2.13: Inputs ................................................................................................................................................................................. 42
2.13.1: Digital Inputs.......................................................................................................................................................... 42
2.13.2: Input Filters............................................................................................................................................................ 42
2.13.3: Debounce Time ..................................................................................................................................................... 42
2.13.4: Configure for Pull Up/Pull Down Resistors by Groups............................................................................................ 42
2.13.5: Programmable Input Functions .............................................................................................................................. 42
2.14: Outputs............................................................................................................................................................................... 44
2.14.1: Digital Outputs ....................................................................................................................................................... 44
2.14.2: Standard Programmable Output Functions ............................................................................................................ 44
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