CT Unidrive SP Guide PUB NE 60th Way Vancouver, WA Voice (360) Fax (360)

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1 CT Unidrive SP Guide PUB NE 60th Way Vancouver, WA Voice (360) Fax (360)

2 Applied Motion Systems, Inc. All rights reserved. No part of this document may be photocopied, reproduced, stored in a retrieval system, or transmitted, in any form or by any means, whether electronic, mechanical, or otherwise without the prior written permission of Applied Motion Systems, Inc. No warranty of accuracy is given concerning the contents of the information contained in this publication. To the extent permitted by law, no liability (including liability to any person by reason of negligence) will be accepted by Applied Motion Systems, Inc., its subsidiaries, or employees for any direct or indirect loss or damage caused by omissions from or inaccuracies in this document. Applied Motion Systems, Inc. reserves the right to change details in this publication without notice. Windows is a trademark and Microsoft, MS-DOS, and Windows NT are registered trademarks of Microsoft Corporation. Other product and company names herein may be the trademarks of their respective owners. Applied Motion Systems, Inc NE 60th Way Vancouver, WA Voice (360) Fax (360) Table 1 Revision History Revision Date Description February 2008 Initial release May 2009 Added Technical Support chapter August 2009 Updated Unidrive Commissioning and Autotuning chapter November 2009 Minor editorial changes throughout. CT Unidrive SP Guide Page 2 of 43 PUB

3 Contents 1 Introduction Using This Guide Our Service Ethic Typographic Conventions Configuring a Control Techniques Unidrive SP Options for Programming and Saving Drive Configurations Before You Begin Using the Keypad SMARTCARD Method Download Parameters to the Drive from a SMARTCARD Upload Parameters from the Drive to a SMARTCARD Keypad Method CTSoft Method Unidrive Commissioning and Autotuning For Open-loop or Closed-loop Vector Motors For Servo Motors Before You Begin Using CTSoft Required Tools Set Up Your System Create or Open a Scratch Project in CTSoft Connect to the Drive with CTSoft Program a Drive using CTSoft Open or Import a Project in CTSoft Prepare to Download/Upload New Parameters Download Parameters to the Drive from a CTSoft File Upload Parameters from the Drive to a CTSoft File CT Unidrive SP Guide Page 3 of 43 PUB

4 4.6 Exporting Projects as Backup Files Technical Support CT Unidrive SP Guide Page 4 of 43 PUB

5 1 Introduction Thank you for purchasing an Applied Motion Systems drive and control system. 1.1 Using This Guide In this guide, we describe how to configure a Control Techniques Unidrive SP in the case a spare unit needs to be commissioned. We also provide instructions for getting online with a Unidrive using the CTSoft software program. Using this software, you can execute uploads and downloads of drive parameters. We assume that users of this manual are motion control system technicians, engineers, and/or managers. We assume you are trained on safety standards. Throughout this guide we refer to you as the operator, technician, user, or manager of the motion control system. We are the designers of the system at Applied Motion Systems, Inc. 1.2 Our Service Ethic If you have questions about the procedures explained in this guide, please contact us at (360) We will do our best to answer your questions quickly and accurately. If you have suggestions for system improvement or a new feature, please let us know. We will make every effort to put your idea to work on your machine. Thank you again for selecting AMS. We look forward to serving you. CT Unidrive SP Guide Page 5 of 43 PUB

6 1.3 Typographic Conventions The following table explains the typographic conventions used throughout this guide. Table 2 Typographic Conventions Convention To indicate a selection sequence, directories and subdirectories are boldfaced and separated by a pipe ( ). Items a user selects, or commands they must type into an interface, are boldfaced. Examples Go to File Import Project. In this example, first select the Control directory, followed by the Shear Control select button on the Control directory page of the HMI. At the prompt, type cd keyboard. Select the Embed All Fonts check box. Hyperlinks are blue and underlined. See Appendix D on page 76. Status messages and control and select buttons are capitalized. Placeholders are italicized. Selecting START RESOLVER TEST enables the selected motor and starts the resolver test. The file naming convention for event files is evyymmdd.evt. For example, a file named ev evt is the event log for February 14, Select and open the configuration file for your shop (Your_Shopname.p7k). CT Unidrive SP Guide Page 6 of 43 PUB

7 2 Configuring a Control Techniques Unidrive SP The Control Techniques Unidrive SP is a high-performance variable speed AC drive. It has the capability of running induction motors either closed- or open-loop, as well as permanent magnet AC servo motors. There are three modular expansion slots available that allow it to interface with a wide variety of position feedback signals. Each system Unidrive is uniquely set up for the type of motor connected to it and the desired application you are running from it. The set up is configured on the Unidrive with parameter settings which define the drive s operating characteristics. This chapter explains how to upload and download drive parameter configurations using: A SMARTCARD (page 9) The drive s keypad (page 8) CTSoft drive software (page 18) Note: Refer to the original documentation shipped with your system for a list of the specific parameters used on your Unidrive(s). 2.1 Options for Programming and Saving Drive Configurations The power and flexibility of the Unidrive SP extends to how you can configure, monitor, and save operating parameters within the drive. There are three different options for programming and commissioning a Unidrive SP. The method you choose will depend on your familiarity and access to the necessary resources for the selected option. SMARTCARD (page 9) The fastest and easiest means of commissioning a new drive is by using a SMARTCARD. The SMARTCARD contains all of the drive parameters. You can insert a programmed SMARTCARD into a new drive to program that drive s memory with the card s settings. Manual parameter entry through the keypad (page 11) The drive can be fully programmed manually by entering in appropriate values for each parameter from the drive s keypad and LED display on the front of each drive. Drive software - CTSoft (page 18) CTSoft enables you to program the drive using a computer and a valid parameter set file. You can also upload drive parameters and export projects as backup files to ensure you have a copy with valid parameters. Each of these programming methods is detailed in the following sections. CT Unidrive SP Guide Page 7 of 43 PUB

8 2.2 Before You Begin Before powering up the drive, ensure that each of the connectors have been securely socketed on front of the drive, and the proper conductors have been landed at each terminal block per the schematic. CAUTION Failure to properly terminate the conductors may damage the drive. If you want to restore the factory default settings to the Unidrive SP, set parameter 0.00 to 1255 and press the red reset button Using the Keypad The Unidrive SP has a simple interface for monitoring and adjusting all of the parameters from the front of the drive. It consists of a two-line LED display and eight function buttons (the keypad ). To upload parameters using the SMARTCARD or the keypad, you must have a basic familiarity with the keypad. The following figure shows the keypad, its display/interface, and function buttons. Figure 1 Unidrive SP Keypad/Display The upper display shows the drive status or the current menu and parameter number being viewed. The lower display shows the parameter value or the specific trip type. Arrow keys (Joypad) Press the four arrow keys to navigate between menus (left and right) and parameters within the displayed menu (up and down). You can also use the arrows to set the value of a parameter after it has been selected for editing with the Mode button. CT Unidrive SP Guide Page 8 of 43 PUB

9 Mode button Press this button to edit a parameter currently displayed. After you press Mode, the value of the parameter flashes, indicating it can be modified. Press the arrow keys until the desired value is displayed (or scroll through the available choices depending on the parameter type). Then, press the Mode button again to enter the new value. Stop/Reset button Press this button to reset the drive after it trips. Resetting the drive is also necessary to execute certain drive functions such as SMARTCARD reading and programming, and saving the drive parameters to internal non-volatile memory. Fwd/Rev and Start buttons These buttons are not used. See the Control Techniques Unidrive SP User Guide or CTSoft Help for more information about using the drive keypad. 2.3 SMARTCARD Method The SMARTCARD is a credit-card-sized removable memory storage module. Each Unidrive SP has a SMARTCARD. The card holds the drive s complete set of parameters in non-volatile memory. At system commissioning, the drive s parameters are stored in the card so that they are available for future use should a drive fail and a replacement need to be programmed identically. The SMARTCARD provides a quick and easy way to get a new drive up and running with minimal effort. The SMARTCARD can be used for: Parameter cloning between drives Saving whole drive parameter sets Saving differences from default parameter sets Automatically saving all parameter changes for maintenance purposes Loading complete motor map parameters The drive only communicates with the SMARTCARD when commanded to read or write, meaning the card may be hot swapped. The following figure shows a SMARTCARD and its slot location in the front of the Unidrive SP (you gain access to this location by removing the Unidrive s front LED display). CT Unidrive SP Guide Page 9 of 43 PUB

10 Figure 2 SMARTCARD Slot in the Unidrive SP Download Parameters to the Drive from a SMARTCARD To program a new drive with valid parameters using a previously saved configuration from a SMARTCARD: 1. Remove the SMARTCARD with the valid set of drive parameters from the old drive. 2. Power up the new drive and remove its LED keypad cover (this does not affect operation). Insert the known good SMARTCARD into the card slot on the front of the Unidrive SP. Make sure to use the proper card orientation as shown in Figure After you have inserted the card, carefully replace the LED keypad cover. 4. You must now transfer the parameters from the SMARTCARD to the drive. Press the up/down arrow keys on the keypad until parameter 0.30 is displayed in the upper display area. Press the M button (this enables editing of the parameter value). Press the up/down arrow keys until read shows in the lower display. Press the M button again; this sets the parameter to the new value. Now press the red reset button to reset the drive. The decimal point on the drive briefly flashes to indicate parameters are actively being read from the card to the drive s memory. 5. A manual save of the drive parameters to internal memory is not needed because this is done automatically upon completion of the SMARTCARD read. If commissioning a new drive that will be used with an existing motor, the programming is complete. CAUTION If you are replacing an existing servo motor with an unknown phase angle or you are using a SMARTCARD from another drive, you must perform an Autotune test to determine the proper phase angle for the new motor. Not doing so may result in damage to the motor. Refer to For Open-loop or Closed-loop Vector Motors on page 12 for instructions. CT Unidrive SP Guide Page 10 of 43 PUB

11 2.3.2 Upload Parameters from the Drive to a SMARTCARD If changes are made to any of the drive parameters (this should be a rare occurrence after the initial system commissioning), we recommend saving the changes to the SMARTCARD so that a good set of drive parameters are stored in case the drive fails and another needs to be programmed. To do this, use the up/down arrow keys on the keypad until parameter 0.30 is displayed in the upper display. Note the setting displayed in the lower display. If parameter 0.30 is set to Auto, then any time the drive s parameters are saved to the internal non-volatile memory, a save of the parameters is also automatically done to the removable SMARTCARD. In this case, the drive parameters on the SMARTCARD are current and no manual configuration save is needed. If parameter 0.30 is set to none, you must manually command the drive to write all of the current parameters to the SMARTCARD memory. Do this by pressing the up/down arrow keys on the keypad until parameter 0.30 is displayed in the upper display area. Press the M button (this enables editing of the parameter value). Press the up/down arrow keys until Prog shows in the lower display. Press the M button again; this sets the parameter to the new value. Now press the red reset button to reset the drive. The decimal point on the drive briefly flashes to indicate parameters are actively being programmed from the drive s memory to the card. 2.4 Keypad Method Use this procedure to load new parameter values into your Unidrive SP using the LED keypad on the drive s cover. Note: If you want to restore the factory default settings to the Unidrive SP, set parameter 0.00 to Before powering up the drive, ensure that each of the connectors have been securely socketed on front of the drive, and the proper conductors have been landed at each terminal block per the schematic. CAUTION Failure to properly terminate the conductors may damage the drive. 2. Change or verify all of the drive s parameters. 3. When you are finished setting all of the parameters, set parameter 0.00 to 1000 and reset the drive by pressing the red reset button. This saves the current configuration. CT Unidrive SP Guide Page 11 of 43 PUB

12 2.5 CTSoft Method CTSoft is free drive software designed by Control Techniques. You can use CTSoft to download, upload, and compare Unidrive SP operating parameters, among other functions. The process for using CTSoft is lengthy and provided separately in Using CTSoft on page 18. CT Unidrive SP Guide Page 12 of 43 PUB

13 3 Unidrive Commissioning and Autotuning This section provides simple autotune test instructions for drives controlling closed-loop servo motors with commutating encoder or resolver feedback and open-loop or closed-loop vector motors. For more detailed information about autotuning, refer to the Control Techniques Unidrive SP User Guide shipped with your system. 3.1 For Open-loop or Closed-loop Vector Motors The drive autotune test is used to optimize drive and motor performance when commissioning a new drive/motor pair. It is not necessary to perform this test if you are replacing a drive or motor with the same make and model. The autotune test measures the motor s electrical properties and stores them for use by the drive s vector control algorithms. A rotating autotune causes the motor to accelerate up to two-thirds base speed in the direction selected, regardless of the reference provided. After the test is finished, the motor coasts to a stop. You can stop the drive at any time by removing the run signal or removing the drive enable. CAUTION The motor must be uncoupled from its mechanical load to run an autotune test. To perform an autotune for an open-loop or closed-loop vector motor: 1. Uncouple the motor from its mechanical load. Not doing so may damage the motor. 2. Set parameter 0.40 to 2 for a rotating autotune. For instructions on setting parameters, see To change a parameter: on page Close the drive enable signal (jumper terminal 22 to 31--on some systems, other jumpers may be required). You may want to use a wired-in push button. When using a jumper, it is easy to bump the terminals without making sustained contact. This will cause the test to start and stop prematurely and the test will be invalid. Likewise, if the jumper is removed before the test is complete, the test result will be invalid. Using a push button will maintain the connection throughout the test. 4. The drive s lower display will flash Auto and tune while the drive is performing the autotune. CT Unidrive SP Guide Page 13 of 43 PUB

14 Note: For PMAC- or UMAC-hosted systems, you may close the drive enable and run signals using the PMAC Executive software. In the software s terminal window, type #no0 (the letter o and the number 0, and where n is the motor number; for example, for motor number 3, you would type in #3o0), and then press Enter. This sets demand to zero and enables the drive. If you have never used this software, refer to the AMS-supplied UMAC Guide shipped with your system. 5. Wait for the drive to display rdy or inh and for the motor to stop. 6. When the test is complete, parameter 0.40 changes from 2 to Remove the drive enable and run signal from the drive. Note: For PMAC- or UMAC-hosted systems, disable the drive by typing the letter K at the PMAC executive terminal window, and then Enter. CT Unidrive SP Guide Page 14 of 43 PUB

15 3.2 For Servo Motors The servo autotune test is used to measure and store the motor s phase angle offset. The phase angle allows the drive to determine the position of the motor rotor from the absolute position of the feedback that is read at drive power-up. With the rotor position known, the drive can commutate the motor windings to move the rotor forward or backward most efficiently. The phase angle value is stored in parameter 3.25 and is specific to a given motor (it is not used with induction motors, even if they are fitted with an encoder). You need to know the phase angle value when you replace the current motor with a new motor (or you are using the SMARTCARD parameters of another drive). If only the drive has been replaced, the phase angle from the previous drive can be manually entered in parameter 3.25 (or read from a SMARTCARD, or downloaded with CTSoft). CAUTION If the phase angle is incorrect, the drive may lose control of the motor, resulting in an O.SPd (motor over speed) or Enc10 trip when the drive is enabled. Permanent damage to the motor can also occur if the wrong phase angle is entered Before You Begin The autotune test will rotate the motor by two electrical revolutions (i.e., up to two mechanical revolutions) in the positive direction, regardless of the reference provided. The drive applies rated current to the motor during the test and measures the phase angle (parameter 3.25). The phase angle measurement is taken when the motor has stopped at the end of the test, therefore, there must be no load on the motor when it is at rest for the correct angle to be measured. If this is impossible, make sure it is free to move in either direction by at least two motor revolutions with no binding. The test takes approximately 20 seconds. NOTE: All other normal conditions must be met for the motor to run, i.e., feeder is running, shears are latched, the gob distributor is swung in, the machine conveyor is running, air pressure is good, and the e-pushers are running. CT Unidrive SP Guide Page 15 of 43 PUB

16 To perform an autotune for a servo motor: 1. Note what the current phase angle is (parameter 3.25) so that you know when it has been measured and updated. 2. Set parameter 0.40 to 2 for a rotating autotune. For instructions on setting parameters, see To change a parameter: on page Close the drive enable signal (jumper terminal 22 to 31). Note: For PMAC- or UMAC-hosted systems, you may close the drive enable and run signals using the PMAC Executive software. In the software s terminal window, type #no0 (the letter o and the number 0, and where n is the motor number; for example, for motor number 3, you would type in #3o0), and then press Enter. This sets demand to zero and enables the drive. If you have never used this software, refer to the AMS-supplied UMAC Guide shipped with your system. 4. The drive s lower display will flash Auto and tune while the drive is performing the autotune. 5. Wait for the drive to display rdy or inh and for the motor to stop. 6. When the test is complete, parameter 0.40 changes from 2 to Remove the drive enable and run signals from the drive. Note: For PMAC- or UMAC-hosted systems, disable the drive by typing the letter K at the PMAC executive terminal window, and then Enter. 8. If the test is successful and the drive does not trip, the newly measured phase angle is automatically entered into parameter AMS recommends running the autotune test a few times and using the average phase angle value. Note: If the motor shaft turns in the wrong direction (negative), the motor leads must be swapped and the test run again. The drive will likely trip with tune2 or tune3 fault code if the motor or resolver phasing is wrong. Correct tune3 faults by swapping the: Motor leads (depending on whether the direction of rotation is correct) (for motors with resolver feedback) U signals (U and U/) with the V signals (V and V/) of the encoder or the motor leads (depending on whether the direction of rotation is correct) (for motors with encoder feedback) Correct tune2 faults by swapping the: SIN+/SIN- pair of resolver leads with the COS+/COS- pair. Be careful not to swap polarity of the two wires in each pair. A and A/ encoder leads (for motors with encoder feedback) 9. Save the parameters by entering 1000 in parameter xx.00 of the drive. Press the red reset button to reset the drive. 10. Ensure the drive enable and run signals have been removed from the drive. CT Unidrive SP Guide Page 16 of 43 PUB

17 Note: For PMAC- or UMAC-hosted systems disable the drive by typing the letter K at the PMAC executive terminal window, and then Enter. 11. Use the up/down arrow keys on the front of the drive to navigate to parameter Record the value of parameter 3.25 and store it in a safe place; the back of the drive s SMARTCARD can be a good place. The drive is now ready to run. CT Unidrive SP Guide Page 17 of 43 PUB

18 4 Using CTSoft This chapter provides detailed instructions for configuring operating parameters in the Unidrive SP using the CTSoft software. Note: Refer to the original documentation shipped with your system for a list of the specific parameters used on your Unidrive(s). CTSoft is a free Windows-based software commissioning tool for the Unidrive SP. You can use CTSoft to: Commission and monitor drives in real-time Upload, download, and compare parameters You can fully configure a new drive by downloading a valid parameter set stored in a file on your computer to the Unidrive SP. In addition, you can back up changes made to the parameters by uploading and saving them to a file on your computer. Restore valid configurations saved on your computer Create simple or custom menu listings Access CTSoft Help information Drive menus can be displayed in standard list format or as live block diagrams. CTSoft is able to communicate with a single drive or a network. CT Unidrive SP Guide Page 18 of 43 PUB

19 4.1 Required Tools A Windows-compatible PC A CT Unidrive SP CTSoft software (available free from A serial cable (typically shipped with your system) Figure 3 Serial Cable 4.2 Set Up Your System 1. Download the CTSoft software (available free from 2. Connect your laptop computer to the drive by connecting a serial cable from your computer s serial port to the Unidrive s front panel as shown in Figure 4. CT Unidrive SP Guide Page 19 of 43 PUB

20 Figure 4 Unidrive SP with Serial Cable Connected 3. Close down all applications that use the laptop COM port. Common programs that use the COM port are the RSLinx and PEWIN32 PRO communication utilities. 4.3 Create or Open a Scratch Project in CTSoft 1. On your computer, start CTSoft. The following dialog box may be displayed. CT Unidrive SP Guide Page 20 of 43 PUB

21 Figure 5 CTSoft Startup Window 2. Create a new scratch CTSoft project, or open a scratch project that you have already created. We strongly recommend this step to maintain a valid backup while monitoring parameters in a drive. To create a new project Select the Create a new project radial button. Click OK to continue. To open an existing scratch project Select the Open a recent project radial button and highlight the appropriate project name. Click OK to continue. Alternately, if CTSoft was already running, or if the CTSoft Startup window shown in Figure 5 did not automatically open when CTSoft started, you can open or create a new scratch project by selecting File Open Project or File New from the toolbar. 3. When creating a new project, the following dialog box will be displayed. Type in the name of the scratch project you are creating, then click OK. CT Unidrive SP Guide Page 21 of 43 PUB

22 Figure 6 CTSoft New Project Properties Dialog Box 4. You are prompted for the type of project to be created. Make sure the Unidrive SP drive is selected as shown in the following figure. Click OK to continue. CT Unidrive SP Guide Page 22 of 43 PUB

23 Figure 7 Project Drive Type 5. The following CTSoft Advice window may be displayed. Click OK to continue. Figure 8 CTSoft Offline Advice 6. The following Drive Properties window is then displayed. Using the default drive name and miscellaneous other settings is okay. Make sure the Node Address is set to 1. Click OK to continue. CT Unidrive SP Guide Page 23 of 43 PUB

24 Figure 9 CTSoft Drive Properties 7. The name of the project that you just created/opened is displayed in the Explorer panel on the left side of the CTSoft screen. It will probably only list one default drive as shown in the following figure (which is all you need to go online and monitor the parameters in any drive). On the right side of CTSoft, Drive 1 Menu 0 Basic Setup screen will also be displayed. Note that the parameters listed here are merely the parameters last saved to the scratch project (default if the project was just created), and not the actual drive parameters the drive has not yet been brought online. CT Unidrive SP Guide Page 24 of 43 PUB

25 Figure 10 CTSoft Project View (new) 4.4 Connect to the Drive with CTSoft 1. Start communications between CTSoft and the drive. Click the square red Toggle Online Status button in the toolbar as shown in the following figure. CT Unidrive SP Guide Page 25 of 43 PUB

26 Figure 11 CTSoft Online Button 2. If the software finds a major mismatch between the parameters and settings in the CTSoft file and the current parameters running in the drive, the following window may be displayed. Because the selected drive in the scratch CTSoft project is generic, this mismatch is likely to be detected. To proceed, select the Change CTSoft to match drive configuration button. Note: Make sure you do not select the Change drive mode to match CTSoft button; doing so reconfigures the drive with incorrect settings. CT Unidrive SP Guide Page 26 of 43 PUB

27 Figure 12 CTSoft Mismatch Detected 3. When you establish communication with the drive, the following message is displayed. The backup parameter file is automatically created just before all the parameters in the CTSoft file are overwritten with the parameters from the drive as it starts communicating with CTSoft. Figure 13 CTSoft Connection Message 4. Depending on the state of the drive and the current parameters it contains, various other messages such as those shown in the following figures may be displayed as the drive begins to communicate with your computer. Select OK to continue, making sure changes are not made to the drive, only the CTSoft scratch project. CT Unidrive SP Guide Page 27 of 43 PUB

28 Figure 14 CTSoft Parameter Change Message Figure 15 CTSoft Drive Tripped Warning 5. After you have confirmed all the messages, the Online button changes to green, indicating CTSoft is communicating with the drive and continually updating the value of the parameters that are shown on the right side of the CTSoft screen. The following figure shows CTSoft connected to the drive. CT Unidrive SP Guide Page 28 of 43 PUB

29 Figure 16 CTSoft Connected 6. To monitor the parameters in the various drive menus, drill down into the Parameters folder of the project Explorer on the left side and double-click on the desired menu. A new window will be opened on the right, similar to that shown in the following figure, showing all of the parameters within that menu, and will continue to update their values in the Memory column from the drive. If you open multiple menus, you can toggle between them by selecting their respective tab across the bottom of the screen. CT Unidrive SP Guide Page 29 of 43 PUB

30 Figure 17 CTSoft Online Menu Display 7. To view more information on a specific parameter within a menu and to edit its value (if it is writeable), double-click on the parameter name. An edit window is shown similar to that in the following figure. Click the Parameter Help button to open a.pdf Help file about a specific parameter. Note: Take care to make changes to parameters only after you thoroughly understand how the changes will affect your system. CT Unidrive SP Guide Page 30 of 43 PUB

31 Figure 18 CTSoft Edit Parameter Dialog Box 8. In addition to the parameter menu lists, there are also matching graphical block diagrams for most of the menus available in CTSoft. These can help you visualize the flow of information through the drive and understand how it is programmed. Drill down into the Block Diagrams folder in the project Explorer on the left side of the CTSoft window and click on the desired menu diagram. This opens a new window similar to the following. You can monitor parameter values from within the diagram, and mode parameters show the active data path based on their current state. CT Unidrive SP Guide Page 31 of 43 PUB

32 Figure 19 CTSoft Block Diagram 9. After you are finished with CTSoft, click the green online button to stop the serial communication with the drive. If CTSoft detects that changes were made to the drive s parameters, the window shown in the following figure is displayed. If changes were intentionally made to any parameters, click the Save parameters in the selected drive button. Otherwise, click the Ignore button to leave the drive unchanged. CT Unidrive SP Guide Page 32 of 43 PUB

33 Figure 20 CTSoft Drive Parameters Changed Warning 4.5 Program a Drive using CTSoft When programming a new drive with a valid parameter set that was previously saved and is available, use the following procedure: Open or Import a Project in CTSoft 1. Set up your system and open CTSoft as described in Set Up Your System on page 19. CT Unidrive SP Guide Page 33 of 43 PUB

34 2. Open or import your new project. To open a project: If the project has been opened before on your computer, select the Open a recent project radial button and highlight the appropriate project name. Click OK to open the selected project. or Go to File Open Project. If the project has not been opened before on your computer, you must import it from a saved project archive file. At the initial machine commissioning, a complete backup of all the drives parameters are saved to a CTSoft archive file with the file extension *.prz. Find the correct file and import it by selecting File Import Project. Figure 21 CTSoft Import Project 3. After successfully importing the project, you are asked if you would like to open the project. Click Yes. CT Unidrive SP Guide Page 34 of 43 PUB

35 4.5.2 Prepare to Download/Upload New Parameters 1. In the Explorer panel, the name of the opened project shows on the left side of the CTSoft screen. Drill down to see the different drives associated with the project, similar to that shown in the following figure. (There may be one or more drives depending on the number of Unidrive SPs in a specific project). Figure 22 CTSoft Project View 2. Select the name of the drive to be commissioned. This tells the software which set of drive parameters to send/receive when the download/upload button is pressed. In the following figure, we have selected the Tail Seal as an example. Note: Ensure that you have opened the correct project and highlighted the desired drive. Downloading/uploading the drive parameters overwrites all the parameters of the drive that is physically connected with the parameters of the selected CTSoft drive (however, no changes are made to the CTSoft parameter set). CT Unidrive SP Guide Page 35 of 43 PUB

36 Figure 23 CTSoft Drive Selection Download Parameters to the Drive from a CTSoft File 1. Perform all of the steps in the following procedures: Set Up Your System on page 19 Open or Import a Project in CTSoft on page 33 Prepare to Download/Upload New Parameters on page In the CTSoft toolbar, click the green Download Parameters button to download the parameters from CTSoft to the drive. CT Unidrive SP Guide Page 36 of 43 PUB

37 Figure 24 CTSoft Download Button 3. If the software finds a major mismatch between the parameters and settings in the CTSoft file and the current parameters running in the drive, the dialog box shown in Figure 12 on page 27 may be displayed. Note what the difference is. In most cases, the difference is in Drive Firmware Version or Drive Mode. In these cases, click the Change drive mode to match CTSoft button to continue. 4. As the download begins and progresses, the following dialog box is displayed, indicating that the parameters are actively being sent to the drive. Figure 25 CTSoft Download Progress Window 5. In some instances, the following warning window is displayed. Click OK and continue. CT Unidrive SP Guide Page 37 of 43 PUB

38 Figure 26 CTSoft Motor Retune Warning 6. After all the parameters have been downloaded to the drive, the following dialog box is displayed. Click Yes to reset the drive. Figure 27 CTSoft Download Complete 7. The parameters from the CTSoft project file have now been successfully transferred to the drive s active memory. Note: If a drive being programmed is connected to a servo motor, ensure that the encoder or resolver offset is correct. If the backup file used was made from a drive running the same motor, the offset just downloaded to the drive should be good. If a different motor is now attached, or the phase offset downloaded to the drive is questioned at all, the offset should be found and confirmed by running the offset test explained in For Servo Motors on page Save the parameters to non-volatile memory by clicking the Save button in the toolbar as shown in the following figure. This saves the downloaded parameters into the drive s non-volatile memory so that they are maintained through power cycles on the drive. CT Unidrive SP Guide Page 38 of 43 PUB

39 Figure 28 CTSoft Save Parameters in Drive Button 9. Depending on the current tripped status of the drive, the following drive tripped warning may be displayed. Click OK to continue. Figure 29 CTSoft Drive Tripped Warning 10. When the save is complete, the following window may be displayed. Click OK to complete the parameter save procedure. CT Unidrive SP Guide Page 39 of 43 PUB

40 Figure 30 CTSoft Parameters Saved Upload Parameters from the Drive to a CTSoft File When saving parameters in a drive to a file on your computer with CTSoft (this should be a rare necessity), use the following procedure: 1. Perform all of the steps in: Set Up Your System on page 19 Open or Import a Project in CTSoft on page 33 Prepare to Download/Upload New Parameters on page In the CTSoft toolbar, click the green Upload Parameters button to upload the parameters to CTSoft from the drive. 3. CTSoft asks you if you want to take your drive online. Click Yes to proceed. Figure 31 CTSoft Online Message 4. Depending on the faulted state of the drive, a drive tripped warning message similar to that shown in Figure 15 on page 28 may be displayed. Click OK to continue. 5. The following upload window is displayed, indicating the parameters are actively being uploaded from the drive to CTSoft. CT Unidrive SP Guide Page 40 of 43 PUB

41 Figure 32 CTSoft Upload in Progress 6. When the upload is complete, the Upload in Progress window disappears. The drive s parameters are now saved in CTSoft. 4.6 Exporting Projects as Backup Files When you make changes to drive parameters and new configurations are uploaded to the CTSoft project, we strongly recommend backing up the modified project to an archive file. If the drive should fail in the future, the good parameters are available for commissioning the replacement drive. To create and save the archive project file: 1. In CTSoft, go to File Export Project. This opens the Export Project file dialog box. Give the archive file a descriptive name (we recommend including the creation date) and click Save to export the current CTSoft project to an *.prz archive file. CT Unidrive SP Guide Page 41 of 43 PUB

42 Figure 33 CTSoft Export Project File Name 2. After you save the file, a dialog box informs you the file was successfully exported. Figure 34 CTSoft Project Successfully Exported CT Unidrive SP Guide Page 42 of 43 PUB

43 Technical Support We make every effort to ensure that your system works properly. If you experience a problem with your system, please do not hesitate to contact us at (360) at any time of day or night. If you are calling after business hours, dial extension 240 to be connected to our 24-hour emergency voice mailbox. Please be sure to leave the following information in your message: Your name Plant location and line or shop number Phone number Description of AMS equipment requiring technical support Brief description of the problem For calls received after business hours, the on-duty dispatcher will return your call within fifteen minutes and contact the engineer best capable of handling your issue. The engineer will then contact you directly. The emergency mailbox automatically pages the on-duty dispatcher and a backup dispatcher every five minutes until someone checks the message. In the rare event that no one returns your call within 30 minutes, please call the emergency dispatcher directly at (360) Thank you for choosing Applied Motion Systems. We appreciate your business. CT Unidrive SP Guide Page 43 of 43 PUB