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TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
Purpose
This document explains how to setup a Control Techniques SP s pindle d rive
Requirements
รขยข Optional CT USB cable to connect from Windows7 Centroid console or
Windows7 PC to spindle drive which can be purchased here
http //www galco com/buy/Control Techniques/CT USB CABLE Note Setup
can be completed using the keypad
รขยข USB flash d rive containing the CTSoft software version CTSoft_V01_15_04
which can be downloaded at http //www emersonindustrial com/en
US/controltechniques/downloads/userguidesandsoftware/Pages/softwaretools a
spx
รขยข USB flash d rive containing default configuration file if you have one optional
Parameters can also be entered manually
รขยข M ouse for easy navigation
Procedure
CTSoft Software Installation
1 Verify that all wiring on the spindle drive is completed and correct
2 Plug in USB cable from Centroid console or PC to the spindle drive shown in
Figure 1 If not using the USB cable and CTSoft software skip to Keypad Setup
located on page 13
3 Insert USB flash drive with t he CTSoft_V01_15_04 software Figure 1
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
4 If connecting to the Centroid control press F10 Shut Down > F9 Exit CNC11
5 Double click the My Computer icon located on the desktop
6 Double click the USB drive typically d \
7 Double click the CT Soft folder
8 D ouble click the CTSoft_V01_15_04 exe file as shown in Figure 2 and follow the
install ation prompts
9 C lick on the Start button and click on Control Panel
10 Click on Hardware and Sound and click on Device Manager
Figure 3 Figure 2
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
11 Click the triangle to the left of Ports COM & LPT T here will be a USB Serial
Port COM x as shown in Figure 3 where x is the number of the COM port that
is being used Jot down the COM number as it will be used later in the setup
process
Note I f the driver files did not install correctly they will need to be manually
install ed
Running CTSoft
1 Click on the Start button and double click CTSoft
2 Select C reate a new project and click OK as shown in Figure 4 Figure 4
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
3 In P roject P roperties define the P roject N ame as shown in Figure 5 as the
serial number of the Centroid control and click OK Figure 5
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
4 Select Unidrive SP and click OK Figure 6
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
5 In the Drive Properties window click Detect Drive Configuration
Note If a communication error window pops up as shown in Figure 8 click OK
then click Comms Settings Figure 7
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
6 Verify that P rotocol is set to CT RTU and H ardware is set to COMx as defined
in step 11 of CTSoft Software Installation as shown in Figure 9
7 Click OK and click Detect Drive Configuration again A window should appear
s t a t ing that the settings were successfully read from the selected drive Click
OK
8 Click the D rive menu and click O nline as shown in Figure 10 Figure 8
Figure 9
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
9 Verify that the bottom right hand corner has changed from red to green and
shows My Drive 1 is Online as shown in Figure 11 I t will also show TRIPPED
10 If there is a default parameter file to load such as default CT par s elect O pen
P arameter F ile or else enter the parameters manually as defined in Figure 14
11 A w indow will pop up asking if you want to load file Click yes
12 Window will pop up asking if you want to download parameters to drive now
Click yes Figure 1 0
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
13 Once the parameters are downloaded to the drive s elect N o when asked to
reset the drive T he green light at the bottom right corner will remain but the fault
will have disappeared since the parameters are now set
14 C lick Save parameters to drive
15 Now you will reset the drive by selecting Reset drive in the toolbox Figure 1 1
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
16 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 1 2
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
17 Finally we want to check to make sure we are getting spindle encoder feed back
on the control
18 To do this in the control software select F1 Setup then F3 Config then F4 PID
Manually turn the spindle sl owly and watch on the screen that the ABS position
for the spindle axis is changing while the spindle is moving Figure 1 3 Parameters Menu
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
Parameters
CT SP4203 and Cells Spindle HFS 170G Settings
Figure 1 4ParameterDescriptionDefaultMemoryUnits
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
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
2 0 Keypad Setup
T he 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 T wo line LCD display
Figure 17 LCD Readout upon intitial start up Figure 1 6 Keypad Layout
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
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 Y ou 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 1 9 20
2 First the Operating M ode must be changed from Open Loop to Closed Loop Vector To
do this p ress 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 th e value of 1000
3 P ress 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 W e 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 U sing 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
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
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 Stat e
Figure 19
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
Figure 20
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
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 N ext on the console put the sindle into manual mode using the spindle mode
select button
3 P ress 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 Figure 21 Spindle Start
Spindle StopSpindle Auto/Man
Select Light on
for Auto
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
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
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 W ith 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 add ed 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 I f 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
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
Figure 22
Figure 23
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
3 0 C ontrol Techniques SP Drive Wiring
รขยข The following signals are wired up to the Cells Spindle Drive
Typical A560 CT Spindle wiringTerminal 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
TB 278 Rev 1 รข Setting up Control Techniques รขSPรข Spindle Drive
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