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Control Loops CME 2 User Guide
132 Copley Controls
11.7.4: Position Loop Gains
The following gains are used by the position loop to calculate the velocity command:
Gain
Description
Pp -
Position loop
proportional
The loop calculates the position error as the difference between the actual and
limited position values. This error in turn is multiplied by the proportional gain
value. The primary effect of this gain is to reduce the following error.
Vff -
Velocity feed forward
The value of the profile velocity is multiplied by this value. The primary effect of
this gain is to decrease following error during constant velocity.
Aff - Acceleration feed
forward
The value of the profile acceleration is multiplied by this value. The primary effect
of this gain is to decrease following error during acceleration and deceleration.
Gain Multiplier
The output of the position loop is multiplied by this value before being passed to
the velocity loop.
11.7.5: Position Loop Feedback
Some Copley Controls amplifiers feature dual-sensor position loop feedback, configured
as follows:
Single sensor. Position loop feedback comes from the encoder or resolver on the
motor.
Dual sensor. Position loop feedback comes from the encoder attached to the load.
(Note that in either case, velocity loop feedback comes from the motor encoder or
resolver.) For more information, see Feedback Notes (p 52).
Position Loop Output
The output of the position loop is a velocity command used as the input to the velocity
loop.
11.7.6: Position Wrap
The position wrap feature causes the position reported by the amplifier to “wrap” back to
zero at a user-defined value instead of continually increasing. Once set, the reported
position will be between 0 and n-1 where n is the user entered wrap value. This feature is
most useful for rotary loads that continually turn in one direction and only the position
within a revolution is of interest to the user.
Relative moves with the wrap value set will move the relative distance called for. Example;
if the wrap value is set to 1000 and a relative move of 2500 is commanded, the axis will
turn 2 ½ revolutions.
Absolute moves will move the shortest distance to arrive at the programmed position. This
could be in the positive or negative direction. Moves programmed to a point greater then
the wrap value will cause an error.
To configure the position wrap feature, see Enter Basic Position Loop (p. 124).
- CME 2 User Guide 1
- Copley Controls 3 3
- 4 Copley Controls 4
- ABOUT THIS MANUAL 5
- Product Warnings 6
- Revision History 7
- 8 Copley Controls 8
- 10 Copley Controls 10
- Copley Controls 11 11
- 12 Copley Controls 12
- Attribute 12
- 2.1: Install CME 2 Software 14
- 2.2: Start CME 2 Software 15
- 16 Copley Controls 16
- 18 Copley Controls 18
- Copley Controls 19 19
- 2.7: Rename an Amplifier 21
- 2.8: CME 2 Interface Tour 22
- 2.8.2: Main Menu Overview 23
- 2.8.3: Functional Diagram 25
- 26 Copley Controls 26
- 3.1: Warnings and Notes 28
- 3.2: Setup Procedure 29
- 30 Copley Controls 30
- Copley Controls 31 31
- Test with load attached 32
- 34 Copley Controls 34
- 4.2: Motor Options 35
- 4.3: Feedback Options 36
- 4.4: Operating Mode Options 37
- 4.5: Miscellaneous Options 38
- 4.6: ServoTube Setup 39
- 40 Copley Controls 40
- 42 Copley Controls 42
- Copley Controls 43 43
- 46 Copley Controls 46
- Feedback 46
- Parameters/Actions 46
- Copley Controls 47 47
- 48 Copley Controls 48
- Copley Controls 49 49
- 50 Copley Controls 50
- Copley Controls 51 51
- 5.7: Feedback Notes 52
- 5.8: Brake/Stop Parameters 53
- 5.9: Brake/Stop Notes 53
- 5.10: The Calculate Function 54
- No light: not configured 56
- Copley Controls 57 57
- Input Function 57
- 58 Copley Controls 58
- 60 Copley Controls 60
- Output Function 60
- Copley Controls 61 61
- Custom Event Functions 62
- Copley Controls 63 63
- 64 Copley Controls 64
- Trajectory Status Functions 64
- 6.4: Analog I/O 66
- 6.4.2: Analog Output 67
- 68 Copley Controls 68
- 70 Copley Controls 70
- 7.1.1: Analog Command Notes 71
- 72 Copley Controls 72
- 7.2: PWM Input Settings 73
- 7.2.1: PWM Input Notes 74
- Copley Controls 75 75
- 76 Copley Controls 76
- Copley Controls 77 77
- 78 Copley Controls 78
- 7.4.1: Programmed Position 79
- 7.4.2: Programmed Velocity 79
- 7.4.3: Programmed Current 79
- 80 Copley Controls 80
- 8.1: CAN Network 82
- 8.2: MACRO Network 83
- …MACRO Network, continued: 84
- 8.3: EtherCAT Network 85
- 86 Copley Controls 86
- Faults CME 2 User Guide 88
- 88 Copley Controls 88
- Fault Description 88
- Fault Occurs When… 88
- Fault is Corrected When… 88
- 9.2: Fault Latching Notes 89
- 90 Copley Controls 90
- CME 2 User Guide Faults 91
- Copley Controls 91 91
- 92 Copley Controls 92
- 94 Copley Controls 94
- Copley Controls 95 95
- 96 Copley Controls 96
- Copley Controls 97 97
- 98 Copley Controls 98
- Copley Controls 99 99
- 100 Copley Controls 100
- Copley Controls 101 101
- 102 Copley Controls 102
- Increment Rate Values 103
- 10.4: Phase Motor Manually 104
- Copley Controls 105 105
- Setting 106
- Description 106
- 106 Copley Controls 106
- Copley Controls 107 107
- 108 Copley Controls 108
- Copley Controls 109 109
- 110 Copley Controls 110
- CHAPTER 111
- 112 Copley Controls 112
- Parameter 112
- 114 Copley Controls 114
- 11.2: Current Loop Auto Tune 115
- 116 Copley Controls 116
- Copley Controls 117 117
- 11.3.1: Current Loop Diagram 118
- 11.3.2: Current Loop Inputs 118
- 11.3.3: Offset 118
- 11.3.4: Limits 118
- 11.3.5: Current Loop Gains 119
- 11.3.6: Current Loop Output 119
- 120 Copley Controls 120
- 11.5.2: Inputs 122
- 11.5.3: Velocity Loop Limits 122
- 11.5.5: Velocity Loop Gains 123
- Copley Controls 125 125
- 126 Copley Controls 126
- Copley Controls 129 129
- Test S-Curve Profile 130
- 11.7.2: Trajectory Limits 131
- 11.7.4: Position Loop Gains 132
- 11.7.6: Position Wrap 132
- Copley Controls 133 133
- 134 Copley Controls 134
- Copley Controls 135 135
- 136 Copley Controls 136
- Copley Controls 137 137
- 138 Copley Controls 138
- 12.1: Stepper Motor Support 140
- Copley Controls 141 141
- 12.3: Encoder Correction 142
- Copley Controls 143 143
- 144 Copley Controls 144
- Homing CME 2 User Guide 146
- 146 Copley Controls 146
- 14.1: Control Panel Overview 148
- Copley Controls 149 149
- 14.4: Control Functions 150
- 14.5: Jog Mode 151
- 152 Copley Controls 152
- 15.1: Scope Tool Overview 154
- 15.2.2: Profile Tab 155
- 15.4: Trigger Setup 157
- 158 Copley Controls 158
- 15.7: Auto Setup 159
- 15.8: Measurement Tab 160
- 15.9.1: Gains Tab 161
- 162 Copley Controls 162
- Copley Controls 163 163
- 15.10: Scope Files 164
- Save trace data: 165
- View a trace file: 166
- 16.3: Data Management Tools 169
- 16.4: Amplifier Firmware 170
- Copley Controls 171 171
- 16.5: Error Log 172
- 16.6: Communications Log 173
- Copley Controls 174 174
- 176 Copley Controls 176
- APPENDIX 177
- 178 Copley Controls 178
- 180 Copley Controls 180
- C.1: Setting Parameters 182
- C.2.2: Analog 183
- C.2.3: V Loop 183
- C.3: Standard Filter Types 184
- C.3.3: Notch Filter 185
- C.3.4: Band Pass Filter 185
- C.3.5: Custom Biquad Filter 185
- C.4.1: Butterworth Filter 186
- C.4.2: Chebychev Filter 186
- C.4.3: Elliptic Filter 186
- C.5: Input Shaping 187
- C.5.1: Input Shaping Window 188
- C.5.2: Input Shaping Types 188
- CME 2 User Guide Filters 189
- Copley Controls 189 189
- Filters CME 2 User Guide 190
- 190 Copley Controls 190
- T Algorithm 192
- D.1.3: I 193
- 194 Copley Controls 194
- T Scope Trace Variables 195
- 196 Copley Controls 196
- E.1: Homing Methods Overview 198
- Index Pulse 199
- E.3.3: Limit Switch 200
- Copley Controls 201 201
- E.3.5: Hardstop 202
- E.3.6: Hardstop Out to Index 203
- E.3.7: Home Switch 204
- Home Switch 205
- E.3.10: Lower Home 207
- E.3.11: Upper Home 208
- 214 Copley Controls 214
- Copley Controls 215 215
- 216 Copley Controls 216
- G.1: Copley ASCII Interface 218
- 220 Copley Controls 220
- Copley Controls 223 223
- Copley Controls 227 227
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