CTB Servo Drives

1. Introduction

MachMotion offers two series the GH single axis and MAS multi axis drives.  The GH can be used as a single axis servo drive and can be connected to a range of PM motors or can be used to drive a AC induction spindle motor.  The MAS come in to versions 3 and 4 axis.

The drives all use EtherCAT for communication from the drive and controller.

2. Wiring

GH Series

Wiring overview

Wiring logic overview

EtherCAT buss (Connectors T1 and T2)

MAS Series Version D3

Spindle Setup

The CTB drives can be configured to use the encoder on that is built into the motor or a external load encoder for position feedback. The encoder on the motor should always be connected to the drive with connector T5. Every spindle drive is expected to have the correct braking resistor installed.

Spindle Configurations

1. V belt spindle drive with external encoder connected to CNC control.  The CNC control can monitor the encoder and control the drive in speed mode.
   Supported Functions: Speed mode, threading.
   
2. Synchronous belt transmission, the transmission ratio of 1:1, with zero position switch.
   Supported Functions: Speed mode, spindle orientation, C axis positioning, threading, rigid tapping.
3. Synchronous belt transmission, the transmission ratio of 1:1.
   Supported Functions: Speed mode, spindle orientation, C axis positioning, threading, rigid tapping.
4. Gear box with multiple transmission ratios, external encoder mounted 1:1 ratio to the spindle.
   Supported Functions: Speed mode, spindle orientation, C axis positioning, threading, rigid tapping.
   
   
   

External Load Encoder

The external encoder must be a 5V TTL quadrature encoder with A,B and marker pulse to be used for orientation of the spindle.  It is very important that the external encoder is mounted 1:1 ratio to the spindle load.

1. Encoder wiring:
   

   Function	Cannon Plug	DB15 Pin Number
   0V	K	4
   5V	H	3
   A	A	2
   /A	N	1
   B	C	7
   /B	R	6
   Z	B	12
   /Z	P	11
   Shield		Shell

2. Encoder parameters:
   

   Parameter	Name	Descriptions	Factory Setting
   C1-03	Position Feedback Source	0: Motor Encoder (T5) 1: External Encoder (T4)	0
   C1-04	Position Operation Source	0: Invalid 1: Motor Encoder (T5) 2: External Encoder (T4)	1
   E1-15	External Encoder Type (T4)	0: Invalid 1: Quadrature	1
   E1-16	External Encoder Pules Count (T4)	0～16348	1024
   E1-17	External Encoder Direction (T4)	0: Clockwise 1: Counterclockwise	0
   E1-18	External Encoder Reduction Ratio Numerator (T4)	1～30000	1
   E1-19	External Encoder Reduction Ratio Denominator (T4)	1～30000	1

   To use the external encoder set C1-03 = 1 and C1-04 = 2.  To view the external encoder count on the drive look at U2-01.

Brake Resistor

1. Connection of braking resistor
   The P, PB terminals on main circuit block of AC servo driver are for connection with braking resistor.
   Please do not connect braking resistor to other terminals, otherwise, the braking resistor will heat up and
   burn out, or cause damage to the driver. 
   

   

   
   Specification of braking resistor
   

   BKSC-XXXX GHX	43 P7	45 P5	47 P5	40 11	40 15	40 18	40 22	40 30	40 37	40 45	40 55	40 75	40 90	41 10	41 32	41 60	42 00	42 50	43 15
   Power W	60 0	80 0	10 00	60 0	80 0	10 00	10 00	15 00	20 00	20 00	25 00	25 00	25 00	25 00	20 00	20 00	25 00	25 00	25 00
   Resist ance Ω	50	40	32	50	40	32	32	32	20	20	20	20	20	20	20	20	20	20	20
   Qty.	1	1	1	2	2	2	2	2	2	2	2	3	3	3	4	4	6	6	8

   
   
2. Parameters setting
   Set the following parameters
   

   Parameter	Name	Descriptions	Factory Setting
   P1-01	Buss Over Voltage Alarm	0～10000	800

 

Firmware

Updating Firmware

1. Power off the drive
2. Switch the programmer switch on the back box towards the LED
3. Power the drive on, the drive LED screen should be blank
4. Download from this document the attached "STMicroelectronics flash loader.zip" and the "GH and MASD3 Firmware M_xxxxxx.zip"
5. Unzip the downloaded files
6. Open this programmer application (STMicroelectronics flash loader.exe)

   

7. Select the com port
   1. Look in the device manager for the USB-serial COM port.
8. Navigate to the .hex file
9. Press the button on the far right (“Download File”)

When updating buss board do the following

1. Change the parameter C1-29 to 3
2. Download firmware then cycle power
3. Now change T1-06 to 4

Updating Device ESI (XML) Files

1. Download from this document the attached "EtherCAT_Configurator.zip"
2. Unzip and install the "EtherCAT Configurator.exe"
3. Download from this document the attached "GH and MASD3 ESI XML Files.zip"
4. Unzip the "GH and MASD3 ESI XML Files.zip" and copy the files to "C:\Program Files (x86)\EtherCAT Configurator\EtherCAT\"
5. Connect the EtherCAT network CAT5 to the Machine Network port on the CNC control.
6. Open the EtherCAT Configurator Program
   

   

7. Left Click onOn "Evaluate (Button)"

   
   
   

8. Left Click

   

 

 

 

 

 

1. Recorded Steps

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   Steps

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   Previous Next

   Step 1: (‎10/‎10/‎2018 1:56:08 PM) User left double click on "EtherCATCfg.exe (list item)"

   Step 1 screenshot.

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   Previous Next

   Step 2: (‎10/‎10/‎2018 1:56:11 PM) User left click on "Evaluate (button)" in "EtherCAT Configurator Registration"

   Step 2 screenshot.

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   Previous Next

   Step 3: (‎10/‎10/‎2018 1:56:13 PM) User left click onOn "I/O Devices (treeTree item)Item)" in "Untitled - EtherCAT Configurator"
   
   
   
Right
Click Step 3 screenshot.
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