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Control Techniqes รขSPรข Spindle Drive Setup
Author Josh Keller Date July 22 nd
2014
Overview
รขยข This document will walk you through the setup of a Control Techniques SP
Spindle Drive
Prequisites
รขยข CT USB cable to connect from console to CT Drive optional Set up can be
completed using the keypad
http //www galco com/buy/Control Techniques/CT USB CABLE
รขยข USB flash drive containing the CT Soft software version CTSoft_V01_15_04
http //www emersonindustrial com/en
US/controltechniques/downloads/userguidesandsoftware/Pages/softwaretools a
spx
รขยข USB flash drive containing default configuration file if you have one optional
Parameters can also be entered manually
1 0 CT Soft Software install
1 Before you begin make sure to check that all wiring on the drive is completed
and correct
2 Plug in USB cable to console and to the drive If not using cable and CT Soft
software go to page 13 Section 2 0
3 Plug in USB flash drive with the CTSoft_V01_15_04 software
4 Open CT Soft file folder and double click CTSoft_V01_15_04 exe and follow
install prompts Figure 1
5 Once install is complete you must now check the driver at the control panel
6 Open Control panel change view to small icons and select device manager
7 In device manager under Ports there will be a USB Serial Port with a COM
number in parenthesis Note the COM number as it will be used later in the
setup process
8 Also if the driver files did not install correctly you will need to manually install the
driver files Figure 3 Figure 2
1 1 Run CT Soft
1 Open the start menu and run CT Soft
2 Select create new project for first time setup and select OK Figure 4
3 In project properties define the project name as the serial number of the control
and select OK Figure 5
4 Select Unidrive SP and click OK Figure 6
5 In Drive Properties window click Detect Drive Configuration
6 If communication error pops up click ok then click on Comms Settings Figure 7
Figure 8
7 In Comms Settings window ensure protocol is set to CT RTU and change the
hardware setting to the Comm USB Serial Port noted earlier on page 2 step 7
8 Click OK and click Detect Drive Configuration again
Box should appear saying that the settings were successfully read from selected
drive Click OK
9 Select drive menu and select online Figure 11 Figure 9
Figure 10
10 Check to see if the bottom right hand corner has changed from red to green and
says that the drive is online Note that it will say tripped next to it See figure 12
11 For next steps a mouse is recommended
12 Select open parameter file if there is a default parameter file to load In the case
of Centroid first setup use default CT par
13 If you do not have a default parameter file you can change the parameters
manually The parameters to change and the values can be found on page 12 of
this manual See figure 15
14 Window will pop up asking if you want to load file Click yes
15 Window will pop up asking if you want to download parameters to drive now
Click yes Figure 11
16 Once the parameters are downloaded to the drive Select no when asked if you
want to reset the drive The green light at the bottom right of the screen will
remain but the fault will have disappeared since the parameters are now set
17 Click Save parameters to drive
18 Now you will reset the drive by selecting Reset drive in the toolbox Figure 12
19 Now in the explorer section maximize the parameters section to see the loaded
parameters The ones highlighted in pink are the ones that have been changed
from the default setting Double check to make sure these are all set to the
desired values outlined in figure 15 To change parameters you must double
click the individual parameter menu groups to open them and make changes Figure 13
20 Finally we want to check to make sure we are getting spindle encoder feed back
on the control
21 To do this in the control software select F1 Setup then F3 Config then F4 PID
Manually turn the spindle slowly and watch on the screen that the ABS position
for the spindle axis is changing while the spindle is moving Figure 14 Parameters Menu
Parameters
CT SP4203 and Cells Spindle HFS 170G Settings
Figure 15ParameterDescriptionDefaultMemoryUnits
1 06Maximum reference clamp180020000RPM
2 04Ramp mode selectStdFASt
2 11Acceleration rate 120 3s/1000 RPM
2 21Deceleration rate 120 5s/1000 RPM
3 23Hard speed reference selectorOFFOn
3 32Drive encoder marker flagOFFOn
4 13Current controller Kp gain7559
4 14Current controller Ki gain1000585
5 06Rated frequency60200Hz
5 07Motor rated current8072A
5 08Rated load rpm / rated speed17705875RPM
5 09Rated voltage230220V
5 1Rated power factor0 850 835
5 11Number of motor polesAuto4 pole
5 17Stator resistance see user guide for scaling 00 075scaled Ohm
5 18Maximum switching frequency38kHz
5 24Transient inductance sLs 00 323mH
5 25Stator inductance Ls 03 51mH
5 29Motor saturation breakpoint 15067%
5 3Motor saturation breakpoint 27592%
6 08Hold zero speedOFFOn
7 15T8 analog input 3 modethVolt
8 11T24 digital I/O 1 invertOFFOn
8 13T26 digital I/O 3 invertOFFOn
8 23T26 digital I/O 3 source/destination6 313 15menu param
8 24T27 digital input 4 destination6 326 3menu param
8 25T28 digital input 5 destination1 416 32menu param
8 33T26 digital I/O 3 output selectOFFOn
8 39T28 & T29 digital input auto selection disableOFFOn
10 3Full power braking time0 094s
10 31Full power braking period3 35s
11 44Security statusL1L2
13 09Position controller P gain2540
13 1Position controller mode06
13 13Orientation position reference01784
13 14Orientation acceptance window25648
2 0 Keypad Setup
The Keypad consists of
รขยข Joypad รข used to navigate the parameter structure and change parameter
values
รขยข Mode Button รข used to change between the display modes รข parameter
view parameter edit and status
รขยข Three Control Buttons รข used to control the drive if keypad mode is selected
รขยข Two line LCD display
Keypad Setup
1 To enter the menu screen press the black mode button M Once in the menu screen
the upper diplay will be flashing You can navigate through the various menus by
pressing the left and right arrows on the joypad To change to different parameters in a
menu press the mode button again The parameter value in the lower display will begin
flashing then use the up and down arrows of the joypad to change the value
Figure 19 20 Figure 16 Keypad Layout
Figure 17 LCD Readout upon intitial start up
2 First the Operating Mode must be changed from Open Loop to Closed Loop Vector To
do this press the mode then navigate to parameter 0 00 with the joypad and press the
mode button again to edit parameter value Change the value of 0 00 from 0 to 1254
for USA spec 60Hz AC supply frequency or 1253 for EUR spec 50Hz AC supply
frequency using the joypad Note that you do not need to go from 0 to 1254 by
pressing the up arrow 1254 times but can use the left to right arrows on the joypad to
change each place So to change a parameter from 0 to 1000 u can simply press the
left arrow 3 times and the up arrow once to produce the value of 1000
3 Press mode again so upper display is flashing and navigate to parameter 0 48 using
the joypad Press mode to change parameter from OPEn LP to CL VECt
4 To complete the Operating Mode change press the red stop/reset button to complete
this change When reset there will be an audible click and ensure that parameter 0 00
has change back to a value of 0
5 We need to change from level one to level 2 access to be able to change all
parameters To do this change parameter 0 49 from L1 to L2 and press mode button to
save this change
6 Using the parameters from Figure 15 navigate through the menus and change the
parameters listed except for parameter except for parameter 8 25 Once all other
parameters are changed go to paramter 0 00 and change from 0 to 1000 This is
needed to save the advanced parameter changes Now go to console and power off
console and reset power to the machine and wait until CT Drive lights are off before
turning power back on
7 Once everything powers back up go back and change parameter 8 25 Also go back to
parameter 0 00 and set to 1000 again Repeat the process again to power off the
system
8 Once the system is powered back up the display should now read as shown in Figure
18 Which is the normal operating display Figure 18 Readout in Normal Operating State
Figure 20 Figure 19
2 1 Tuning
1 To start the tuning process first set parameter 0 40 to 2 either using the CT Soft
software by manually changing in parameters Figure 14 and selecting apply or
the key pad by pressing the mode button and navigating to 0 40 and changing to
2 ensuring to press mode again to save change
2 Next on the console put the sindle into manual mode using the spindle mode
select button
3 Press the green spindle start button to start the auto tune process
4 The spindle will spin up to 4000rpms then stop and coast down to 0rpm Do not
stop spindle manually and make sure it is completely stopped
5 Once the spindle is at 0rpm press the red spindle stop button and return the
spindle to auto mode
6 Finally save parameters in drive either using the CT Soft software or using the
keypad to change 0 00 to 1000 and reseting the power Figure 21 Spindle Start
Spindle StopSpindle Auto/Man
Select Light on
for Auto
2 2 Orient Position
1 To set orient postion put a tool into the spindle Position tool changer arm to
align with notch in tool holder
2 Open CT Soft software and enable drive online Open parameters and select
menu 13
3 With your hand manually turn the tool to one side of the notch
4 Set parameter 13 13 to 0 and select apply
5 Note the value in parameter 13 02 Move the tool to the other side of the notch
and note the value in 13 02 again
6 Take both numbers added together and divide by two
7 If the number you get is negetive then put a the positive value of that number in
parameter 13 13 and apply Example if the value you get is 2500 the enter 2500
in parameter 13 13
8 If the number you get is positive then take the 65535 minus the number and
enter that into 13 13 Example if the value is 2500 then take 65535 รข 2500 =
63035 then enter 63035 in parameter 13 13 and hit apply
9 Now when the tool is moved from side to side the value should be close to the
same positive and negetive Example one side of notch will say 500 and the
other side will say 500 this will orient the spindle in the center of the notch
10 To set orient position using the control keypad repeat steps 1 through 3
Navigate to menu 13 and set parameter 13 13 to 0
11 Now navigate to parameter 13 02 and move spindle to one side of notch and
check value on LCD display Move spindle to other side and record position
12 Use those numbers to find the value needed in 13 13 Check now that the
values in 13 02 are close to the same positive and negative
13 Now go to parameter 0 00 and enter 1000 then shut down and restart control
14 Return the tool changer to its normal position
15 MDI command M19 and check spindle position appears correct
Figure 22
Figure 23
3 0 Control Techniques SP Drive Wiring
รขยข The following signals are wired up to the Cells Spindle Drive Terminal NumberFunctionPLC Wiring
3 6 Analog CommonSpindle Analog Common
5Analog OutSpindle Analog Out
21 4124VDC Common24VDC Common
22Output CommonOutput Common
24Zero SpeedZero Speed Input
25ResetSpindle Reset Out
26Orient CompleteOrient Complete Input
27Spin ForwardSpindle Forward
28Spin ReverseSpindle Reverse
31Hardware EnableOrient Request Out
42Drive FaultSpindle Fault Input
Typical A560 CT Spindle wiring
3 1 PLC Funtions
รขยข The following table is the outputs each mode of spindle operation
Output Spindle Off M5/M20 Spindle FWD M3 Spindle REV M4 Spindle Orient M19
Spindle FWD OFF ON OFF OFF
Spindle Reverse OFF OFF ON OFF
Request Orient OFF ON ON ON