Xenus XSL User Guide Using CME 2
Copley Controls Corp. 133
6.4.4: Control Functions
The Control area of the screen provides functions related to overall amplifier control. The screen
options are different when the Position Loop Input is CAN (as shown on the right).
6.4.4.1 Control the operational state of the amplifier using the radio buttons described below.
Button Text Description
Software Enable Amplifier Amplifier is software enabled when button is selected.
Under CAN Control Amplifier state is under CAN control when button is selected.
Disable Amplifier Amplifier is software disabled when button is selected.
Jog Mode See Jog Mode (p. 133).
6.4.4.2 To reset the amplifier, click Reset. To clear all amplifier faults, click Clear Faults.
To set the amplifier’s actual position counter to zero, click Set Zero Position.
Risk of unexpected or uncontrolled motion.
!
WARNING
Using the CME 2 Set Zero Position function while the amplifier is operating under
CANopen control could cause unexpected or uncontrolled motion.
Failure to heed this warning can cause equipment damage.
6.4.5: Jog Mode
Jog mode provides a simple means for generating forward or reverse commands.
6.4.5.1 To put the amplifier in jog mode, select the Jog Mode radio button. Then, set up a jog
move by setting the following mode-specific options:
Mode Option Description
Torque Current applied to the motor. Limited by current loop Continuous Current.
Warning: Unloaded motors may, depending on torque setting, ramp up in
speed very quickly.
Current
Current Ramp Sets the rate at which the current will increase and decrease.
Velocity
Jog Speed Velocity of the jog move. Limited by velocity loop Vel. Limit.
Velocity Velocity of the jog move. Limited by velocity loop Vel. Limit.
Acceleration Acceleration rate of the jog move. Limited by Trajectory Limits Max Accel.
Position
Deceleration Deceleration rate of the jog move. Limited by Trajectory Limits Max Decel.
6.4.5.2 Command the move.
Current
mode:
Hold Torque Pos to apply positive torque to the motor; hold down Torque Neg to apply
negative torque to the motor. Release the button to stop movement.
Velocity
mode:
Hold Jog Pos to command a forward velocity; hold down Jog Neg to command a negative
velocity. Release the button to command zero velocity.
Position
mode:
Hold Move Pos to generate a forward move profile; hold Move Neg to generate a negative
move profile. Release the button to stop movement.
NOTE: Position mode jog is accomplished by continuously updating the commanded
position. If a following error develops with Following Error Fault is disabled, motion will not
stop on button release. Instead, it stops when actual position = commanded position.
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