Thank you for choosing Meliconi.
This universal remote control is used for all the main functions of 2 remote controls (TV and VCR) of the brands listed at the back of the pack. Keep your Instructions Booklet and Code Booklet for future reference.
USING THE KEYS AND FUNCTIONS
VCR selection key for using the VCR. This key lights up whenever you use a VCR command.

TV and VCR ON/OFF key.

Used to access additional commands and to program the remote control.
TV selection key for using the TV. This key lights up whenever you use a TV command. Teletext keys: to access Teletext to close Teletext and return to normal viewing Teletext page hold function additional Teletext function. Confirm key. To select the next (P+) or previous (P-) channel or program. These keys can also be used to move up and down in the MENU. Mute key.
Number keys. To access your MENU. Move within the MENU using the +/- and P +/keys or SHIFT with +/- P +/- depending on the model of your original remote control. Control the volume using +/-. These keys can also be used to move to the right and left in the MENU. To select an external terminal.
User customisation keys for memorising and accessing additional commands.
TV Fastext Func. Red Green

VCR Record Rewind Stop

TV Fastext Func. White/Violet Blue Yellow
VCR Additional Func. Fast forward Pause Play
The functions described above are only operative if your appliance also has them.

FITTING THE BATTERIES

Before programming and using the remote control, fit the batteries. The remote control requires 2 new AAA/LR03 alkaline batteries. Insert the batteries as shown. The batteries must be changed once a year. If the TV or VCR selection keys start to flash during use, this indicates that the batteries are low and should be changed. When you remove the batteries, fit the new ones within 5 minutes or you may have to reprogram your remote control. Make a note of the codes for your TV and VCR on the adhesive label inside the battery cover. This note will be handy if you have to reprogram your control.

SET-UP

Read these instructions carefully before programming your remote control! To program the CONTROL 2 Plus remote control, follow the indications in section A , B or C.
BRAND SEARCH PROGRAMMING MODE
Warning: program one appliance at a time.
1. Make sure your TV or VCR is ON. For VCRs, make sure a cassette has been inserted. 2. In the code book enclosed, look for the brand of your appliance and make a note of the code indicated at the side (e.g. Philips 001) or the code for the brand indicated by the arrow. 3. TV VCR Press and release the TV or VCR selection key for the appliance you want to use. the TV key is used to search only for the TVs of the brand selected the VCR key is used to search only for the VCRs of the brand selected.
7. When the appliance responds correctly, press SHIFT to confirm. Three flashes indicate that the operation has been completed correctly. Additional check Check that some of the other functions used on your original remote control are working correctly. If the commands function incorrectly or erratically, you have probably entered a code for a similar but different remote control. In this case, repeat the search procedure from point 3.
4. Hold down the SHIFT and ON/OFF keys together until the TV or VCR selection key starts to flash indicating that the remote control is in programming mode.
Identify and make a note of the code for the appliance which you have searched for, following the code noting procedure (see NOTING THE PROGRAMMED CODE section). NOTE: THE TV OR VCR SELECTION KEY STOPS FLASHING. The remote control leaves the programming mode and the TV or VCR selection key stops flashing: if no keys are pressed for 15 seconds if an invalid brand code is entered if the code search list is completed In this case, go back to point 3 or switch to programming mode C if you press the TV - VCR - F1 - F2 F3 - F4 keys by mistake.
5. Release the keys, within 15 seconds, enter the brand code previously identified (e.g. 001). The TV or VCR selection key flashes more quickly to indicate that the remote control is ready for the search. 6. Point the remote control at the appliance. Press and release slowly one of the most frequently used keys several times STOPPING when the appliance responds correctly to the command.

DIRECT CODE ENTRY

1. Make sure your TV or VCR is ON. For VCRs, make sure a cassette has been inserted. 2. In the code book enclosed, look for the brand of the TV or VCR appliance you want to control and make a note of the first code in the list BENEATH the brand previously identified (e.g. Philips TV 103, VCR 345). 3. TV VCR Press and release the TV or VCR selection key for the appliance you want to use. You cannot set a VCR code using the TV key.
Additional check Point the remote control at the TV or VCR. Check that the appliance responds correctly to the commands sent. If there is no response or the appliance only responds partially or incorrectly, it is probable that you have used the wrong code. In this case, try the procedure again from point 3. This time, however, use the NEXT CODE in the list (e.g. 111 for TV). Make a note of the TV and VCR codes used to program the remote control on the adhesive label inside of the battery cover for rapid consultation. NOTE: THE TV OR VCR SELECTION KEY STOPS FLASHING. The remote control leaves the programming mode and the TV or VCR selection key stops flashing: if no keys are pressed for 15 seconds if an invalid brand code is entered if you press the TV - VCR - F1 - F2 - F3 - F4 keys by mistake.
5. Release the keys. Within 15 seconds, enter the code previously identified (e.g. TV103). Three flashes indicate that the code has been saved correctly. If not, try the code entry procedure again from point 3.
GLOBAL SEARCH REMOTE CONTROL PROGRAMMING
This operation may take up to about 20 minutes. Warning: program one appliance at a time.
1. Make sure the appliance is ON. For VCRs, make sure a cassette has been inserted 2. TV VCR Press and release the TV or VCR selection key for the appliance you want to use. the TV key is used to search only for the TVs of the brand selected the VCR key is used to search only for the VCRs of the brand selected.
Additional check Check that some of the other functions used on your original remote control are working correctly. If the commands function incorrectly or erratically, you have probably entered a code for a similar but different remote control. In this case, repeat the search procedure from point 2.

3. Hold down the SHIFT and ON/OFF keys together until the TV or VCR selection key starts to flash indicating that the remote control is in programming mode.
4. Release the keys. Within 15 seconds, enter the code 000. The TV or VCR selection key flashes more quickly to indicate that the remote control is ready for the search. 5. Point the remote control at the appliance. Press and release slowly one of the most frequently used keys several times STOPPING when the appliance responds correctly to the command. 6. When the appliance responds correctly, press SHIFT to confirm. Three flashes indicate that the operation has been completed correctly.
Identify and make a note of the code for the appliance which you have searched for, following the code noting procedure (see NOTING THE PROGRAMMED CODE section).
NOTE: THE TV OR VCR SELECTION KEY STOPS FLASHING. The remote control leaves the programming mode and the TV or VCR selection key stops flashing: if no keys are pressed for 15 seconds if the code search list is completed. In this case, start again from point 2. if you press the TV - VCR - F1 - F2 F3 - F4 keys by mistake.
NOTING THE PROGRAMMED CODE
Always write down the 3-digit code for your remote control on the label inside the battery cover after running the search and saving the code. This may be useful if you need to reprogram your remote control in the event of accidental cancellation or when you change used batteries. If you forget to write down the code or use the remote control programming procedures A or C. dont worry! To find the code for your remote control: 1. TV VCR Press one of the TV or VCR selection keys for the appliance whose code you want to identify. Count the number of flashes for each code number. For example, for the code 306, the key flashes three, zero and six times to give: =3 =0 =6 5. Note this code on the label inside the battery cover for rapid consultation.
2. Hold down the SHIFT and ON/OFF keys together until the TV or VCR selection key starts to flash.
3. Release the SHIFT and ON/OFF keys and then press and release the 1-/-key. 4. After a few seconds, the TV or VCR selection key you used, communicates the code by flashing the three numbers separately.
USING THE REMOTE CONTROL FOR 2 TVs
You can use the remote control for 2 TVs instead of 1 TV and 1 VCR. 1. Look for the code for the first TV, following any of the programming procedures A , B or C described above. 2. Make a note of the three-digit code identified. 3. Repeat the search for the second TV and make a note of the code. 4. Enter the two codes following programming procedure B from point 3. Start by pressing the TV selection key to enter the code for the first TV and then the VCR selection key to enter the code for the 2nd TV.

VOLUME CONTROL AVAILABLE AT ALL TIMES
You can raise or lower the TV volume or use the mute function while watching the VCR without having to press the TV selection key.
USING THE ADDITIONAL COMMANDS WHICH DO NOT APPEAR ON THE KEYPAD
Although not indicated on the keypad, some keys can be used for additional commands. 1. Use your CONTROL 2 Plus remote control to find them by pressing the following keys one by one or together with the SHIFT key:

1-/-2MENU OK AV

2. The most frequently used additional commands like MENU SCROLL COLOUR BRIGHTNESS and NORMALISATION are located as follows: normalisation menu (up) menu (down) menu (right) menu (left)

+ P P -

menu (up) menu (down) menu (right) menu (left)

+ + + +

brightness (-) brightness (+) color (-)

red green

brightness (-) brightness (+)

red green yellow blue

yellow color (-) blue color (+)

color (+)

3. FOR THE LESSER-USED FUNCTIONS, refer to the code book appendix. Find the symbol table corresponding to the code you saved to program the remote control. Locate the additional function you require and note down the symbol or number which appears below it. EXAMPLE: XXX CODE TABLE Original remote control additional functions
REV RIV TUPO TIME CANCEL ORA +
CONTROL symbols or numbers
+ TP OFF MEM F TP ON MEM FULL TOT EXP TOP EXP BOT ALTO I-II

MENU MENU

014 015
There are 4 ways to enable the additional commands: A TV function example: brightness (+) C TV function example: EXP BOT
A symbol appears beneath the function. Locate this symbol on your remote control and press the key to transmit the function to the appliance. The command stops when you release the key. B TV function example: FULL TOT
A number appears beneath the function (028). Press and hold down SHIFT. Type in the number, holding down the last digit (8). The function is transmitted to the TV and stops when you release the two keys (SHIFT+ 8). D TV function example: contrast +

A symbol against a grey background appears beneath the function. Locate this symbol on your remote control. Press SHIFT and the key at the same time. The corresponding function is transmitted to the appliance and stops when you release the keys.
A symbol and a number are displayed beneath the function. You can apply the command using either the symbol or the number. Locate this symbol on your remote control and press the key to transmit the function to the appliance. If you want to use the number, refer to example C above.
NOTE: You cannot use the additional commands unless these were already available on your original remote control.

PROGRAMMABLE KEYS

You can customise your remote control to use any 4 additional TV or VCR functions, using the function keys F1- F2 - F3 - F4. In the symbol table corresponding to your remote control code, locate the additional function you require and note down the number which appears below it. Note that only number functions can be saved using F1- F2 - F3 - F4. The function programming procedure is as follows: TV function example: EXP BOT Press and hold down SHIFT and type in the number written beneath function 028. Press one of the function keys (e.g. F1) and hold it down together with SHIFT. After a few seconds, the TV or VCR selection key for the appliance you have chosen will emit a series of 3 flashes to indicate that the function has been saved correctly. Release SHIFT and F1. From now on, whenever you press F1, the additional command just saved is transmitted to the appliance and stops when F1 is released.
NOTE: If the TV or VCR selection key does not flash, repeat the saving procedure described above.

TROUBLESHOOTING

PROBLEM The appliance does not respond and the TV and VCR selection keys do not light up when you press a key. SOLUTION Try some of the other frequently used keys. If the problem persists, check that the batteries are fitted correctly. If necessary, replace them with 2 new 1.5 V AAA/LR03 alkaline batteries. Check that the batteries are new and that the remote control is pointing at the appliance without any obstacles in the way. If required, reset the remote control code, following the programming procedure A or B or C. The batteries are low. Change them. You may have used the wrong code. Reset the remote control code, following the programming procedure A or B or C. Set the remote control code, following the global search programming procedure C.

The appliance does not respond but the TV and VCR selection keys light up.
The TV or VCR selection key is flashing. The remote control commands are not all working correctly.
The brand for your appliance is not listed in the Code Book.

INFO-LINE

If you have any queries about CONTROL 2 Plus: read this booklet carefully; this will help you to solve almost all problems consult our Internet site www.meliconi.it to answer all your queries more easily and quickly.
WARRANTY: 2 years Agents stamp Tampering or improper product use will void this guarantee. Remote control model CONTROL 2 Plus

Purchase date

Xenus Plus User Guide
P/N 16-01018 Revision 01 April 2011

This page for notes.

TABLE OF CONTENTS About This Manual...... 5 1: Introduction...... 9 1.1: Xenus Plus Family Overview.... 10 1.2: CME 2...... 11 1.3: CMO/CML...... 11 2: Operational Theory...... 13 2.1: Drive Internal Power..... 14 2.2: Synchronizing PWM Switching Frequency.... 16 2.3: Commutation Modes..... 16 2.4: Feedback...... 16 2.5: Operating Modes..... 17 2.6: Communication...... 30 2.7: Limit Switches...... 33 2.8: Brake Operation..... 35 2.9: Status Indicators..... 36 2.10: Protection...... 41 2.11: Position and Velocity Errors.... 43 2.12: Inputs...... 46 2.13: Outputs..... 47 2.14: Regen Resistor Theory..... 48 3: Specifications...... 49 3.1: Agency Approvals...... 50 3.2: Power Input..... 50 3.3: Power Output..... 50 3.4: Control Loops...... 51 3.5: Regen Circuit Output..... 51 3.6: Digital Command Input..... 51 3.7: Analog Command Input..... 52 3.8: Analog Inputs...... 52 3.9: Digital Inputs...... 53 3.10: Analog Outputs..... 54 3.11: Digital Outputs...... 54 3.12: Brake Output...... 55 3.13: Encoder Power Supply Output..... 55 3.14: Primary Encoder Inputs..... 55 3.15: Analog Encoder Inputs..... 55 3.16: Hall Switch Inputs...... 56 3.17: Resolver Interface..... 56 3.18: Multi-Mode Port..... 56 3.19: Serial Interface..... 57 3.20: Network Interfaces..... 57 3.21: Status Indicators...... 58 3.22: Fault Levels..... 58 3.23: Power Dissipation...... 59 3.24: Thermal Impedance..... 59 3.25: Mechanical and Environmental.... 59 3.26: Dimensions...... 60 4: Wiring....... 63 4.1: General Wiring Instructions..... 64 4.2: AC Mains (J1)...... 67 4.3: Motor (J2)...... 68 4.4: Regen Resistor (J3) (Optional)..... 70 4.5: Logic Supply / Brake (J4)..... 71 4.6: Safe Torque Off (J5)..... 72 4.7: RS-232 Serial Communications (J6)..... 74 4.8: Network Ports (J7)..... 75 4.9: Control (J8)...... 78 4.10: Secondary I/O (J9)..... 83 4.11: Motor Feedback (J10)..... 85

Copley Controls

Table of Contents
Quick Setup with CME 2..... 91 5.1: Warnings...... 92 5.2: CME 2 Installation and Serial Port Setup.... 93 5.3: Prerequisites..... 97 5.4: Basic Setup..... 99 5.5: Motor/Feedback Setup..... 102 5.6: Drive Configuration..... 113 5.7: Command Input..... 123 5.8: Auto Phase...... 132 5.9: Current Loop...... 138 5.10: Velocity Loop...... 142 5.11: Position Loop...... 144 5.12: Completion Steps..... 151 Using CME 2...... 153 6.1: CME 2 Overview...... 154 6.2: Manage Drive and Motor Data..... 159 6.3: Downloading Firmware..... 163 6.4: Control Panel...... 165 6.5: Manual Phasing..... 169 6.6: Home Function..... 171 Regen Resistor Sizing and Configuration..... 173 A.1: Sizing a Regen Resistor...... 174 A.2: Configuring a Custom Regen Resistor.... 178 I2T Time Limit Algorithm..... 181 B.1: I2T Algorithm...... 182 Thermal Considerations...... 187 C.1: Operating Temperature and Cooling Configurations.... 188 C.2: Heatsink Mounting Instructions..... 190 Xenus Filter...... 191 D.1: Overview...... 192 D.2: XTL-FA-01 Edge Filter Specifications..... 193 D.3: Thermal Considerations...... 193 D.4: XTL-FA-01 Edge Filter Dimensions.... 194 D.5: XTL-FA-01 Edge Filter Wiring..... 195 D.6: XTL-FA-01 Edge Filter Ordering..... 199 Connecting XPL for Serial Control..... 201 E.1: Single-Axis and Multi-Drop..... 202 Ordering Guide and Accessories.... 203 F.1: Drive Model Numbers..... 204 F.2: Accessory Model Numbers..... 206 F.3: Order Example..... 207 F.4: Copley Standard Regen Resistor Specifications..... 208

Position Loop Settings (p. 145).
2.5.5: Input Command Types
The drive can be controlled by a variety of external sources: analog voltage or digital inputs, CAN network (CANopen), EtherCAT, CoE (CANopen over EtherCAT), MACRO, or over an RS-232 serial connection using ASCII commands. The drive can also function as a stand-alone motion controller running an internal CVM program or using its internal function generator.
2.5.6: Analog Command Input
Overview The drive can be driven by an analog voltage signal through the analog command input. The drive converts the signal to a current, velocity, or position command as appropriate for current, velocity, or position mode operation, respectively. The analog input signal is conditioned by the scaling, dead band, and offset settings. Scaling The magnitude of the command generated by an input signal is proportional to the input signal voltage. Scaling controls the input-to-command ratio, allowing the use of an optimal command range for any given input voltage signal range. For example, in current mode, with default scaling, +10 Vdc of input generates a command equal to the drives peak current output; +5 Vdc equals half of that. Scaling could also be useful if, for example, the signal source generates a signal range between 0 and +10 Vdc, but the command range only requires +7.5 Vdc of input. In this case, scaling allows the drive to equate +7.5 Vdc with the drives peak current (in current mode) or maximum velocity (in velocity mode), increasing the resolution of control. Dead Band To protect against unintended response to low-level line noise or interference, the drive can be programmed with a dead band to condition the response to the input signal voltage. The drive treats anything within the dead band ranges as zero, and subtracts the dead band value from all other values. For instance, with a dead band of 100 mV, the drive ignores signals between 100 mV and +100 mV, and treats 101 mV as 1 mV, 200 mV as 100 mV, and so on.

Dead Band

-200 -200 -Input 100 200
Offset To remove the effects of voltage offsets between the controller and the drive in open loop systems, CME 2 provides an Offset parameter and a Measure function. The Measure function takes 10 readings of the analog input voltage over a period of approximately 200 ms, averages

J6 STAT-Drive Status

NET-EtherCAT Network Status
J7 Activity Status (Yellow) Out (B) Link Status (Green) Activity Status (Yellow) In (A) Link Status (Green)
XEL J6 Drive Status Indicator Operation XEL Drive status indicator color/blink codes are described below.

Color/Blink Code

Not illuminated Steady green Slow-blinking green Fast-blinking green Steady red Blinking red

Meaning

No +24 Vdc power to drive. Drive is enabled and operational. Drive is disabled. No faults or warnings are active. A limit switch is active. The drive is enabled. A non-latched fault has occurred. A latched fault has occurred.
XEL J6 EtherCAT NET Status Indicator Operation
Run (Green) Color/Blink Code
Not illuminated Blinking Single flash Steady
Initialization Pre-operational. Safe-operational. Operational. No error. Invalid configuration. A change of state commanded by the master is not possible or is illegal. Local error. The slave has initiated a change of state by itself in response to an error. Watchdog timeout. The EtherCAT sync manager watchdog timer has timed out.

Error (Red)

Not illuminated Blinking Single flash Double flash
XEL J7 EtherCAT Port Link and Activity Indicator Operation

Link (Green)

On On Off

Activity (Yellow)

Off Flicker On
Port open, no activity Port open, network activity Port closed
2.9.2: XML Drive and Network Interface Status Indicators
The XML amplifier status and MACRO network status LED indicators are located on J6.

NET-MACRO Network Status

XML J6 Drive Status Indicator Operation XML Drive status indicator color/blink codes are described below.
XML Network (NET) Status Indicator
Off Blinking green Green Steady red
MACRO network has not been detected. MACRO network detected and has disabled drive. MACRO network detected and is trying to enable drive. This condition can occur while the AMP LED shows any of its valid color combinations. MACRO network errors have been detected.

DANGER

After the cause of a non-latched fault is corrected, the drive re-enables the PWM output stage without operator intervention. In this case, motion may re-start unexpectedly. Configure faults as latched unless a specific situation calls for nonlatched behavior. When using non-latched faults, be sure to safeguard against unexpected motion. Failure to heed this warning can cause equipment damage, injury, or death.
Clearing Latched Faults A latched fault is cleared only after the fault has been corrected and at least one of the following actions has been taken: power-cycle the +24 Vdc to the drive cycle (disable and then enable) an enable input that is configured as Enables with Clear Faults or Enables with Reset access the CME 2 Control Panel and press Clear Faults or Reset clear the fault over the CANopen network or serial bus
Example: Non-Latched vs. Latched Faults For example, the drive temperature reaches the fault temperature level and the drive reports the fault and disables the PWM output. Then, the drive temperature is brought back into operating range. If the Drive Over Temperature fault is not latched, the fault is automatically cleared and the drives PWM outputs are enabled. If the fault is latched, the fault remains active and the drives PWM outputs remain disabled until the faults are specifically cleared (as described above). Fault Descriptions The set of possible faults is described below. For details on limits and ranges, see Fault Levels (p. 58).

Fault Description

*Drive Over Temperature Motor Phasing Error

Fault Occurs When

Drive's internal temperature exceeds specified temperature. Encoder-based phase angle does not agree with Hall switch states. This fault can occur only with brushless motors set up using sinusoidal commutation. It does not occur with resolver feedback or with Halls correction turned off. Over current condition detected on the output of the internal +5 Vdc supply used to power the feedback. Resolver or analog encoder not connected or levels out of tolerance. Motor over-temperature switch changes state to indicate an over-temperature condition. Bus voltage falls below specified voltage limit. Bus voltage exceeds specified voltage limit. User set following error threshold exceeded. Output to output, output to ground, internal PWM bridge fault. Output current I T limit has been exceeded.

The Xenus Plus features six programmable digital outputs. OUT1 - 5 are general-purpose outputs. OUT6 is specifically designed as a brake output but can be programmed to perform any of the functions. For a list of digital output functions, see Standard Digital Outputs (p. 115). OUT1-OUT3 are connected on J8. Opto-isolated OUT4 and OUT5 are on J9. OUT6 (Brake) is on J4. OUT1 and OUT2 are current seeking MOSFETs, each with a pull-up resistor, in series with a diode, connected to the drives internal +5 Vdc supply. This design allows the outputs to be directly connected to optically isolated PLC inputs that reference a voltage higher than +5 Vdc, typically +24 Vdc. The diode prevents current flow between the +24 Vdc supply and the internal +5 Vdc supply though the pull-up resistor. This current, if allowed to flow, could turn on the PLC input, giving a false indication of the drives true output state. OUT1 and OUT2 require an external flyback diode to be installed across any inductive loads, such as relays, that are connected to them. OUT3 is a 5V high speed buffered CMOS output. OUT4 and OUT5 are opto-isolated with a 30 Vdc maximum output. Zener clamping diodes across outputs allow driving of resistive-inductive (R-L) loads without external flyback diodes. The brake output (OUT6) is described in Brake Operation (p. 35).

2.13.2: Analog Output

The Xenus Plus features one programmable analog output (AOUT1). It has an output voltage range of 5 Vdc. An op-amp buffers the output of a 12-bit D/A converter.
2.14: Regen Resistor Theory

2.14.1: Regeneration

When a load is accelerated electrical energy is converted into mechanical energy. During deceleration the conversion is reversed. This is called regeneration. Some of this regenerated energy is lost to friction in the mechanical system. More of this energy is converted to heat due to I2R losses in the motor windings, cabling, and drive electronics. The remainder of the energy is added to the electrical energy already stored in the internal capacitor bank of the drive. The result of this energy being added is an increase in the voltage on the capacitor bank.

2.14.2: Regen Resistor

If too much energy is added to the capacitor bank, the voltage rises to a point where the drive's over voltage protection shuts down the drive. To prevent this, a regen circuit shunts some of the energy into an external regen resistor when the voltage rises too high.
2.14.3: Regen Circuit Components
The drive provides an internal transistor that is used in combination with an external resistor. Copley Controls supplies compatible resistors as described in Regen Resistor Assemblies (p. 207). When using a resistor acquired from another source, be sure it meets the specifications described in Regen Resistor Sizing and Configuration (p. 173).

Using CME 2

5.11: Position Loop...... 144 5.11.1: Position Loop Settings..... 145 5.11.2: Manually Tune the Position Loop.... 148 5.11.3: Test S-Curve Profile..... 150 5.12: Completion Steps..... 151 5.12.1: Objective..... 151 5.12.2: Steps..... 151

5.1: Warnings

Make connections with power OFF.
Do not make connections to motor or drive with power applied. Failure to heed this warning can cause equipment damage, injury, or death.
Spinning motor with power off may damage drive.
Do not spin motors with power off. Voltages generated by a motor can damage a drive. Failure to heed this warning can cause equipment damage.
5.2: CME 2 Installation and Serial Port Setup

5.2.1: Requirements

Computer Requirements Minimal hardware requirements: CPU: Minimum: 1 GHz* RAM: Minimum: 512 MB* *Using the minimum requirements will allow CME 2 to run, but performance will be significantly reduced. Communication Requirements For serial communications: At least one standard RS-232 serial port or a USB port with a USB to RS-232 adapter. At least one serial communication cable. Available from Copley Controls. Copley Controls cable part number: SER-CK. For CAN communications (XPL, XEL): One Copley Controls CAN PCI network card (part number CAN-PCI-02). CME 2 also supports CAN network cards made by these manufacturers: KVaser, Vector, and National Instruments. One PC-to-drive CANopen network cable. For EtherCAT communications (XEL, XPL): At least one standard Ethernet network card At least one standard Ethernet cable For MACRO communications (XML): At least one 62.5 micron Multi-Mode Glass Fiber Cable per ISO/IEC 9314 & ANSI X3.1661990 (Commonly referred to as 62.5/125 multi-mode glass fiber cable.)
Software Requirements Copley Controls CME 2 software, Version 6.0 or higher. Operating System Requirements Operating Systems Supported: Windows 7, Vista, Windows 2000, and Windows XP. Vista users see Special Notes for Windows 7 and Vista Users below.
5.2.2: Special Notes for Windows 7 and Vista Users
When the installer starts, Windows 7 or Vista displays a message stating that an unidentified program is trying to access the computer. Click the button to allow the installer to continue, and CME 2 will be installed properly. The default file locations for CME 2's data files (ccx, ccm, etc.) are in the "Program Files/Copley Motion/CME 2" folder. Vista does not allow programs to write to the Program Files folder; instead, it re-directs the file writes to a separate users folder. All of CME 2's data folders will be under this path: C:\Users\Public\Public Documents\Copley Motion\CME 2\Copley Motion\CME 2.
5.2.3: Downloading Software from Web (Optional)

Use Halls for Velocity and Position (Position mode) Use Halls for Velocity (Velocity mode) Multi-mode Port

5.4.1.9

Click Finish to close the Basic Setup screen. 101
5.5: Motor/Feedback Setup
Motor, Feedback, and Brake settings can be loaded from a file or entered manually into the fields. Choose the appropriate method and perform the steps described: Load Motor/Feedback/Brake Settings from a File (p. 102) Enter Motor/Feedback/Brake Settings Manually (p. 103)
5.5.1: Load Motor/Feedback/Brake Settings from a File

5.5.1.1 1

To download motor data files from the website: In an internet browser, navigate to http://www.copleycontrols.com/Motion/Products/Motors/index.html Click on the appropriate motor name. When prompted, save the file to the MotorData folder in the CME 2 installation folder. (The default installation folder is C:\Program Files\Copley Motion\CME 2\MotorData.) Extract the contents of the zip file to the same location. The folder should now contain the new motor data file (with a.ccm filename extension). If desired, delete the.zip file to save disk space.

6 5.5.1.2

To load motor data from a motor data file:
Click Motor/Feedback to open the Motor/Feedback screen. On the Motor/Feedback screen, click Restore Motor Data from Disk ( When prompted, navigate to the folder containing the file, then click on the file name, and then click Open. Proceed to The Calculate Function (p. 112). ).
5.5.2: Enter Motor/Feedback/Brake Settings Manually

5.5.2.1

Click Motor/Feedback to open the Motor/Feedback screen. A Motor/Feedback screen representing a typical rotary motor is shown below. Parameters vary with drive model.

5.5.2.2

Click the Motor tab to view or change Rotary Motor Setup Parameters (p. 104) or Linear Motor Setup Parameters (p. 105).

5.5.2.3

Click the Feedback tab to view or change Feedback Parameters, Rotary (p. 106) or Feedback Parameters, Linear (p. 109). Read the Feedback Notes (p. 110) for important related information.

5.5.2.4

Click the Brake/Stop tab to view or change Brake/Stop Parameters (p. 111). Read the Brake/Stop Notes (p. 111) for important related information.

5.5.2.5

Use The Calculate Function (p. 112) to calculate initial gains and limits.

5.5.2.6

On the Main screen, click Save to Flash to avoid losing the changes.
5.5.3: Rotary Motor Setup Parameters
View or change the settings described below. Options vary with drive model. Metric units are shown here.

Setting

Manufacturer Model Number Units Motor Inertia Number of Poles Peak Torque Continuous Torque Velocity Limit Torque Constant Back emf Constant

5.6.5.3

Choose Output Active High to have the output go high when active or Output Active Low to have the output go low when active. To optionally latch the selected events, set Latch Output. For more information on latching, see Non-Latched and Latched Custom Outputs (p. 120).
Latching an output does not eliminate the risk of unexpected motion with non-latched faults.

5.6.5.4

5.6.5.5
Associating a fault with a latched, custom-configured output does not latch the fault itself. After the cause of a non-latched fault is corrected, the drive reenables without operator intervention. In this case, motion may re-start unexpectedly. Failure to heed this warning can cause equipment damage, injury, or death.
Click OK to save changes to volatile memory and close the Custom Output Configuration screen.
5.6.6: Custom Digital Output Settings: Custom Trajectory Status
Any of the drives digital outputs can be programmed to respond to a combination of drive trajectory status conditions. The output goes active when one or more of the conditions is met.

5.6.6.1

Choose Custom Trajectory Status for an output and then click Configure Custom to open the Trajectory Status Configuration screen.

5.6.6.2

Select one or more trajectory status conditions described below. Multiple functions are ORed together, so any status match activates the output. Trajectory Status Functions Status Description
Homing Error Referenced (Homed) Homing in Progress Move Aborted Trajectory Generator Running Activate output if an error occurred in the last homing attempt. Activate output if the most recent homing attempt was successful. Activate output when a homing move is in progress. Activate output if move is aborted. Activate output while trajectory generator is generating a move.

5.6.6.3

Choose Output Active High to have the output go high when active or Output Active Low to have the output go low when active. Click OK to save changes to volatile memory and close the screen.

5.6.6.4

5.6.7: Custom Digital Output Settings: Position Triggered Output
Any of the drives digital outputs can be programmed to respond in certain ways to the position of the controlled axis. The output goes active when the axis position meets the specified criteria.

5.6.7.1 5.6.7.2

Choose Custom Position Triggered Output for an output and then click Configure Custom to open the In Position Configuration screen.

5.6.7.3

Select one of the configurations described below and enter appropriate values for the parameters. Configuration Description and Parameters
In Position Window Trigger at Position Trigger Positive Motion Trigger Negative Motion Activates the output while the axis is in the window between the programmed Upper and Lower positions. Activates the output for the programmed Time when the axis travels through the programmed Position. Activates the output for the programmed Time when the axis travels in the positive direction through the programmed Position. Activates the output for the programmed Time when the axis travels in the negative direction through the programmed Position.

Change/verify Position Loop parameters as needed: Gain Description
Aff Vff Pp Gains Multiplier Acceleration feed forward. Range: 0 to 32,767. See Trajectory Limits (p. 22). Velocity feed forward. Range: 0 to 32,767. 100% Vff: 16,384. See Trajectory Limits (p. 22). Position loop proportional gain. Range: 0 to 32,767. See Trajectory Limits (p. 22). Position loop output is multiplied by this value before going to the velocity loop. In dual encoder systems, the multipliers initial value is calculated based on the ratio of motor encoder turns to position encoder turns. See Feedback Parameters, Rotary (p. 106) for information on motor/position encoder ratio.

Following Error

The level (in encoder counts) at which the following error produces a fault, which stops the servo loop. We recommend raising the fault level before tuning the loop. See Following Error Fault Details (p. 44). The level (in counts) at which the following error produces a warning (without stopping the loop). See Following Error Fault Details (p. 44). Stops following error from faulting. Following Error Fault Details (p. 44).

Warning Disable Fault

Tracking
Tracking Window Tracking Time
Width of tracking window in counts. See Tracking Window Details (p. 45). Position must remain in the tracking window for this amount of time to be considered tracking. See Tracking Window Details (p. 45).

5.11.1.3

Optionally click Position Wrap to open the Position Wrap screen:

5.11.1.4

Change/verify the position wrap parameters as needed. Set both values to zero to disable position wrapping. Note that the changes do not take effect until OK is pressed. For more information about this feature, see Position Wrap (p. 23). Parameter Description
Motor Position Wrap Load Position Wrap Position at which the actual motor position count returns to zero. In a single feedback system, it also applies to the actual load position. Position at which the actual load position count returns to zero in dual feedback systems. If the position encoder is set to passive mode, this value applies to the passive encoder position.

5.11.1.5

Click on the Trajectory Values tab:

5.11.1.6

Change/verify the trajectory values as needed. Parameter Description
Max Velocity Max Accel Continued Maximum trajectory velocity. Max value may depend upon the back EMF and the Max feedback count. Min:0. Default: 0.25 x motor velocity limit. Maximum trajectory acceleration. Max value may depend upon the load inertia and peak current. Min:0. Default: 0.5 x velocity loop Accel. Limit value.

Continued Max Decel

Maximum trajectory deceleration. Max value may depend upon the load inertia and peak current. Min:0 (disables limit). Default: 0.5 x velocity loop Accel. Limit value. Deceleration rate used by the trajectory generator when motion is aborted. Min:0. Default: 0.5 x velocity loop Accel. Limit value. Rate of change of acceleration. The value of jerk set during the calculate procedure produces an S-Curve whose maximum slope is equal to the trajectory profile slope. This value will produce a maximum acceleration that is not more than the initial default value of acceleration. Small values will produce less jerking but will take longer to complete move. Large values will produce more jerking and a more trapezoidal profile but will complete the move faster.

Saving a MACRO File for Delta Tau Controllers (p. 162). Manage Drive and Motor Data (p. 159).
Copley Indexer 2 Program User Guide.

Restore Cam Tables

See Copley Camming Users Guide.
Exit Amplifier Basic Setup Control Panel Auto Phase Scope Error Log Drive Properties Network Configuration Rename Auto Tune Gain Scheduling Tools Communications Wizard Communications Log Download Firmware and FPGA Program Manual Phase View Scope Files I/O Line States CME 2 Lock/Unlock ASCII Command Line Continued
Closes CME 2. Prompts for data-saving decision. Basic Setup (p. 99). Control Panel (p. 165). Auto Phase (p. 132). CME 2 User Guide. CME 2 User Guide. CME 2 User Guide. CME 2 User Guide. Renaming a drive (p. 158). CME 2 User Guide. CME 2 User Guide. Serial Port Setup (p. 95). CME 2 User Guide. Downloading Firmware (p. 163). CME 2 User Guide. CME 2 User Guide. CME 2 User Guide. CME 2 User Guide. CME 2 User Guide and ASCII Guide.

continued:

CME 2 User Guide All Documents
Opens the CME 2 User Guide. Opens the Doc folder in the CME 2 installation folder (typically c://Program Files/Copley Motion/CME 2/Doc). This folder contains all of the related documents that were installed with CME 2. Opens default web browser with relevant pages from Copley Controls website.
Downloads Web Page Software Web Page View Release Notes About
Opens latest CME 2 release notes in a text viewer. Displays CME 2 version information.
6.1.4: Functional Diagram
The functional diagram, shown below, provides button-click access to most of the screens used to configure a drive. It also indicates the flow of control from input, across all active control loops, to motor/feedback. Only those control loop buttons that are appropriate to the operational mode appear on the diagram.

Control Loops

Input Command
Input/Output CVM Control Program Input Command
Opens Input/Output screen. Opens Copley Virtual Machine screen. Configure the input command. Button label varies depending on the selected control loop input. Each opens a control loop configuration screen. Opens the Motor/Feedback screen. Configure and test homing. Opens Regen Resistor screen. Opens Fault Configuration screen.
Theory: Inputs (p. 46) and Outputs (p. 47). Programming instructions: Drive Configuration (p. 113). Copley Indexer Program User Guide. Theory: Input Command Types (p. 23). Programming instructions: Basic Setup Screen (p. 99). Theory: Operating Modes (p. 17). Programming instructions: Current Loop (p. 138), Velocity Loop (p. 142), and Position Loop (p. 144). Theory: Feedback (p. 16). Programming instructions: Motor/Feedback Setup (p. 102). Home Function (p. 171). Theory: Regen Resistor Theory (p. 48). Programming instructions: Regen Resistor (p. 122). Theory: Faults (p. 41). Programming instructions: Non-Latched and Latched Custom Outputs (p. 120).

Control Loops Motor/Feedback Home Configure Regen Configure Faults
6.1.5: Network Information and Status Bar
The Main screen displays basic network status information. The example below shows CAN information: The Address field shows the drives present CAN, EtherCAT or MACRO address. This value is updated on +24 Vdc power-up or reset only (for more information, see CAN Addressing (p. 32). When the Position Loop Input is set to CAN, the State field shows the state of the drives CANopen state machine (for more information, see Copley Controls CANopen Programmers Manual). The status bar describes the present commutation mode, motor type, and drive control status as shown below. It also includes a reminder that pressing the F12 function key while CME 2 is running disables the drive.
6.1.6: Choosing a drive from a List of Drives
If, as shown on left, below, there is only one serial port set up for communications with a drive, CME 2 automatically attempts to connect to the drive on that port on CME 2 startup. If, as shown at center, below, multiple PC serial ports have been set up for communications with multiple drives, CME polls all the drives and displays their names in the Copley Neighborhood. To choose a drive, click on the drive name. If, as shown on right, below, one drive serves as a CME 2 multi-drop gateway for one or more node drives, the node drives are indented under the gateway.
One drive: Multiple drives: Multi-drop:

6.1.7: Renaming a drive

Each drive represented in the Copley Neighborhood drive tree has a name. The default name for a drive is unnamed. Use this procedure to rename a drive.

6.1.7.1

Choose Main Menu DriveRename to open the Rename Drive screen.

6.1.7.2 6.1.7.3

Enter the new name. Click OK to close the screen and save the new name or click Cancel to close the screen without saving the name.
6.2: Manage Drive and Motor Data

6.2.1: Memory

To maintain drive and motor settings, the drive uses volatile RAM memory and non-volatile flash memory. Data can also be saved to disk for backup and distribution. Xenus RAM and Xenus Flash Memory The drives RAM holds status data and certain user-entered information data during operation, whereas flash memory permanently stores the data for loading into the drives RAM at power-up or reset, as described below.

Xenus RAM

Volatile. Contents erased when amplifier is reset or powered off. Initial contents read from flash on power-up. Contents then updated in real time to reflect certain operational conditions and changes entered with CME 2 software. At any time, the user can use CME 2 to restore data from flash into amplifier RAM.

Xenus Flash

Non-volatile. Contents retained when the amplifier is reset or powered off. Modified only by using a Save to Flash tool or by closing certain screens (Motor/Feedback, Basic Setup, or CAN Configuration), whose contents are automatically saved to flash upon closing of the screen.
How the Drive Uses RAM and Flash Memory As described below, some data resides in flash only, some in RAM only, and some in both.

Data Resides In

Flash only
This category includes all data represented on the Motor/Feedback screen, Basic Setup screen, and CAN Configuration screen. This data is automatically saved to flash as soon as its entry is confirmed (when the user clicks the appropriate Save to Flash button, or closes the screen). Includes all user-entered data represented on other screens, such as gains, limits, and I/O, and faults. Initial values for this data are factory-set in flash. They are loaded from flash to RAM with each power-up or amplifier reset. This data is saved to flash only when a user clicks the appropriate Save to Flash button. It is flushed from RAM with each power-down or drive reset. Includes operating status data such as actual position, actual current, and drive temperature. Such data is never stored in flash. It is flushed from RAM with each power-down or drive reset.

Flash and RAM

RAM only

6.2.2: Disk Storage

Drive Data Files and Motor Data Files At any time, the user can save certain data from RAM and flash memory to a file on disk. From the Main screen, the user can save all user-entered data represented on all screens (the data described as Flash only and Flash and RAM on p. 159). This data is saved in a Copley Controls drive data file with a.ccx filename extension. From the Motor/Feedback screen, the user can save all data represented on the Motor/Feedback screen. This data is saved in a Copley Controls motor data file with a.ccm filename extension. A.ccx file can be restored to return the drive to a previous state or to copy settings from one drive to another, as described in Quick Copy Setup Procedure (p. 161). This procedure can be performed via a direct RS-232 serial connection or on node drives via the serial connection gateway drive.

F.4.2: Dimensions

The diagram below shows XTL-RA-03 and XTL-RA-04 mounting dimensions (in mm).
Xenus Plus User Guide P/N 16-01018 Revision 01 April Copley Controls 20 Dan Road Canton, MA 02021 USA All rights reserved