Xenus XSL User Guide Quick Setup with CME 2
Copley Controls Corp. 87
5.5.2: Rotary Motor
5.5.2.1 Click Motor/Feedback ( ) to open the Motor/Feedback-Rotary Motor screen.
5.5.2.2 Enter the rotary options described below.
Option Description
Manufacturer Motor manufacturer’s name. Saved for reference in the motor data file.
Model Number Motor model number. Saved for reference in the motor data file.
Units Selects whether the parameters entered in this screen are in Metric or English units.
Motor Inertia The rotor inertia of the motor. Used for calculating initial velocity loop tuning values.
Range: 0.00001 to 1,000 kg-cm
2
. Default: 0.00001 kg-cm
2.
Number of
Poles
(Brushless only.) The number of magnetic poles in the motor. Required for correct
commutation of the motor. If the number of poles is not known, refer to Verify Motor
Pole Count (p. 148). Range: 2 to 200. Default: 4.
Peak Torque The peak torque that the motor can produce. Peak Torque divided by torque constant
= motor’s peak current limit. Range: 0.001 to 1,000 Nm. Default: 0.0001 Nm.
Continuous
Torque
The continuous torque that the motor can produce. Used with the torque constant to
calculate continuous current. Range: 0.001 to 1,000 Nm. Default: 0.0001 Nm.
Velocity Limit Maximum speed of the motor. Used to calculate the velocity and acceleration limits for
the velocity loop. Range dependent on encoder resolution.
Torque
Constant
Relates the motor's input current to torque produced. Sometimes abbreviated as Kt.
Range: 0.001 to 1,000 Nm/Amp. Default: 0.001 Nm/Amp.
Back emf
Constant
Relates the motor's input voltage to speed. Sometimes abbreviated as Ke. Used for
calculating the maximum velocity for a given amplifier bus voltage.
Range: 0.01 to 1,000 V/Krpm. Default: 0.01 V/Krpm.
Resistance Motor resistance line-to-line. Used for calculating the initial current loop tuning values.
Range: 0.01 to 327 . Default: 0.01 .
Inductance Motor inductance line-to-line. Used for calculating the initial current loop tuning values.
Range: see Power Output (p. 50).
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