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CTB Servo Drives

machmotion-logo.jpg

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. Slide the switch on the black programmer towards the LED
  3. Plug the RS232 cable from the programmer into a USB to Serial adapter and connect the USB to the control
    IMG_0572.JPG
  4. Connect the larger blue programming cable to the drive
    IMG_0574.JPG
  5. Plug the programmer power cord into a 115V outlet and leave the main power to the drive off
    IMG_0573.JPG
  6. Make sure the LED on the programmer is solid red
  7. Download from this document the attached "STMicroelectronics flash loader.zip" and the "GH and MASD3 Firmware M_xxxxxx.zip"
  8. Unzip the downloaded files
  9. Open this programmer application (STMicroelectronics flash loader.exe)

  10. Select the com port
    1. Look in the device manager for the USB-serial COM port.

  11. Navigate to the .hex file file that was in "GH and MASD3 Firmware M_xxxxxx.zip" folder
  12. Select the appropriate file (GHB5_StandardExxxxxx) or MASD3_StandardExxxxxx)
  13. Press the button on the far right (“Download File”)
  14. Wait for the progress bar to complete. If the programmer has any errors unplug the programmer power cord and try again.
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 On "Evaluate (Button)"



  8. Left Click On "I/O Devices (Tree Item)"


  9. Right Click On "I/O Devices (Tree Item)"
  10. Left Click On "Scan Devices... (Menu Item)"


  11. Left Click On "Ok (Button)"

  12. Left Click On The Ethernet Adapter Labeled "Machine"

  13. Left Click On "Ok (Button)"



  14. Left Click On "Yes (Button)"

  15. Left Click On "Yes (Button)"

  16. Left Click On "Drive 1 (Beijing Ctb Mas-D3 Ac Servo Driver)

     

  17. Left Click On "Ethercat (Tab Item)"

  18. Left Click On "Advanced Settings... (Button)"

  19. Left Click On "Esc Access (Tree Item)

  20. Left Click On "Esc Access (Tree Item)"

  21. Left Click On "E²prom (Tree Item)"

  22. Left Click On "E²prom (Tree Item)"

  23. Left Click On "Smart View (Tree Item)"

  24. Left Click On "Write E²prom... (Button)"

  25. Left Click On "Beijing Ctb Mas-D3 Ac Servo Driver (65542 / 65543) (Tree Item)"

  26. Left Click On "Ok (Button)" In "Write Eeprom"

  27. Left Click On "Ok (Button)" In "Advanced Settings"

  28. Left Click On "Close (Button)"

  29. Left Click On "No (Button)"

 

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