Glentek Alpha Series Installation & Operation Manual
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Glentek Alpha Series Installation & Operation Manual

Digital - high bandwidth, pwm brush and brushless servo amplifiers
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INSTALLATION & OPERATION MANUAL
Digital - High Bandwidth
PWM Brush and Brushless Servo Amplifiers
SMB/SMC 9508
SMB/SMC 9515
SMB/SMC 9408
SMC Designates Separate Keep Alive Logic Power
Congratulations, You Cared
Enough to Buy the Very Best!
Alpha Series
SMB/SMC 9410
SMB/SMC 9415
SMB/SMC 9420
SMB Designates BUS Powered Logic
SMB/SMC 9430
SMB/SMC 9445
SMB/SMC 9475
Manual Revision Date:
13 February 2014

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  • Page 1 INSTALLATION & OPERATION MANUAL Alpha Series Digital - High Bandwidth PWM Brush and Brushless Servo Amplifiers SMB/SMC 9508 SMB/SMC 9410 SMB/SMC 9430 SMB/SMC 9515 SMB/SMC 9415 SMB/SMC 9445 SMB/SMC 9408 SMB/SMC 9420 SMB/SMC 9475 SMB Designates BUS Powered Logic SMC Designates Separate Keep Alive Logic Power...

  • Page 3: Table Of Contents

    Saving parameters to non-volatile memory ............31 Creating a back up copy of amplifier parameters on disk ........31 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 4 OSITION UNING Setup Pulse/Direction Follower ................54 Setup Encoder Follower ..................55 ..............56 HASE URRENT ORQUE UNING ..............57 ACHOMETER EEDBACK ETUP AND UNING Motor Running....................58 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 5 2 Axis base plate chassis installation (STD/LO PWR) ... 130 SMB / SMC9415 2 Axis base plate chassis installation (HI PWR) .... 131 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 6 SMB / SMC9445-1B Amplifier w/ built in DC P.S., Mini-D (Stand Alone)..151 SMB / SMC9475-1B Amplifier w/ built in DC P.S., Molex (Stand Alone) ..152 SMB / SMC9475-1B Amplifier w/ built in DC P.S., Mini-D (Stand Alone)..153 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 7: Overview

    This manual guides the application engineer through the steps necessary for installation of the Alpha series digital amplifiers. All features of the Alpha Series digital amplifier are explained and the procedures for installation and tuning are covered. The following sections are presented in an order that will make installation easy for most first time users of the Alpha Series digital amplifiers.

  • Page 8: Product Description

    Alpha Series offers one of the world’s most powerful products for a given form factor. The Alpha Series employ a Field Oriented Control method which allows accurate control in both steady state and transient operation. Glentek’s advanced Space Vector Pulse Width Modulation algorithms allow for maximum utilization of the DC BUS voltage while minimizing harmonic distortion of the current in the windings of 3-phase AC motors.

  • Page 9: Pulse And Direction Position Mode Servo Amplifier

    CAN in Automation (CiA) DS-301 V4.02 standard. See CANopen Installation and Operation Manual for more detail. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 10: Features

    Provides control engineers the ability to connect any motor leads to any amplifier motor outputs. The amplifier’s smart algorithm will automatically find and align the motor phases to allow for the most optimized smoothness and efficient commutation. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 11  Space Vector Modulation: Glentek’s advanced algorithms allow for maximum utilization of the DC BUS voltage while generating minimum harmonic distor- tion of the currents in the winding of 3-phase AC motor.

  • Page 12: Standard Operating Conditions

    Overheating Ensure that the amplifier’s air vents are not obstructed. Allow a clearance of 75mm (minimum) above the amplifier for proper ventilation. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 13: Control Block Diagrams

    Control Block Diagrams Control Block Diagrams Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 14 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 15: Command Input Control Diagram

    Command Input Control Diagram Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 16 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 17: Current Control Loop Diagram

    Current Control Loop Diagram Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 18 Alpha Series Digital PWM Amplifier Manual This Page is Intentionally Left Blank Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 19: Amplifier Setup Software

    Setup.exe. It is found in the MotionMaestro  \disk1 directory of the distribution CD. The installation will create a Glentek folder in the Program Files folder. A MotionMaestro _X_X folder is created where _X_X matches the version number. You can ...

  • Page 20: Motion Maestro Amplifier Setup Features

    This section of this manual is an introduction to MotionMaestro’s features that are required for instal-  lation and setup of the Alpha series amplifiers. Only those features of MotionMaestro required for de-  fining motor characteristics are covered. This is not meant to be a step by step tutorial. The “Connecting the Amplifier to the motor”...
  • Page 21 “MotionMaestro’s main window using Ethernet” with all green communications status indicators. MotionMaestro’s main window using Ethernet Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 22: Model Information

    These settings, in addition to the Bus under-voltage and over-voltage settings, are useful informational tools and are required if the user performs his own scaling of am- plifier values. Model Info Box Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 23: Digital I/O Setup

     tions on many of the dialog display windows. For example, when the Alpha series amplifiers are in current mode, parameters on the Tuning dialog pertaining to the velocity loop are not available. Engineering unit scaling used internally by MotionMaestro is also ...

  • Page 24: Motor Parameters Setup

    For manual Dialog box for entering motor and tuning setup information, refer to Current (Torque) mode current loop auto/manual tuning Tuning section on page 46. parameters Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 25: Commutation Setup

    “Gear In” is the number of counts coming into the am- plifier for every increment in the input position counter. Gearing/Encoders Setup Dialog Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 26: Trajectory Generator Setup

    One channel is default, and up to two (2) channels of different output sources can be monitor at the same time (need to specify when ordering). Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 27: Oscilloscope Setup

    When record is activated a red light will be displayed near the button. Oscilloscope Display Screen Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 28: Terminal Window

    Display this dialog by selecting “Status\Inputs\Digital…” or by utilizing Motion- Maestro’s toolbar . Status Display Digital inputs Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 29: Faults

    Display this dialog by selecting “Status\System Status…” or by utilizing MotionMaestro’s toolbar. The System status display Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 30: Control Panel

    The Oscilloscope can query the amplifier down to a period of 2 milliseconds, which is adequate for most tuning requirements. The Tuning section describes in detail how a motor is tuned. Dialog box for tuning the motor Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 31: Saving Parameters To Non-Volatile Memory

    Restore backed up files to an amplifier with the “Restore Backup” selection. Backing up amplifier parameters to a file on disk Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 32: Amplifier Connection Interface

    Direction signal of Pulse & Direction interface. RELAY OUT Relay output, turns on when desired condition occurred. For the actual pin out of above signals, see Appendix A - Controller I/O Connector section. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 33: Analog Input, Command Signal

    Pins PULSE+, PULSE-, DIR+, and DIR- can accept from the master motor/controller’s encoder outputs Channel A+, A-, B+, and B-, respectively. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 34 Alpha Series Digital PWM Amplifier Manual Pulse (step) and Direction mode (for Molex Connector): Encoder Follower mode (for Molex Connector): Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 35: Analog Outputs

    The analog output signals setup and usage can be found in the Motion Maestro Guide at www.Glentek.com. The analog output can be used to monitor amplifier signals at the servo update fre- quency. By doing so, the application engineer can determine the amplifiers true response to com- manded signals.

  • Page 36: Limits

    An external voltage source can be connected to the ENC PWR pin (Note: amplifier needs to be built properly prior to using external voltage source). This power will be supplied to the encoder at the +V pin (see Encoder Feedback). Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 37: Power Input And Output Signals

    10.0K R1IN R1OUT SCITX T2OUT T2IN COMMON RJ45SHLD R2IN R2OUT SCIRX (CHASSIS GND) RS-232 Input Schematic Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 38 Note: RS-232 requires connecting only the 3 pins marked with an asterisk above. If required, Glentek can customize a serial port digital interface to adapt to your controller as required to meet your protocols. We are currently doing this for high speed Ethernet ports.

  • Page 39: Canopen Interface

    Amplifier Connection Interface CANopen Interface The CANopen interface can be found at the HOST, COM1 or COM2 connector. Glentek Alpha Series drives employ the CANopen protocol that is based on the CAN Physical Layer as standardizes in the CAN in Automation (CiA) standard DS-301 V4.02.

  • Page 40: Optional Relay Output

    CANopen Installation and Operation Manual for more information. Most Glentek Alpha Series servo amplifiers are provided with two RJ-45 ports to facilitate chaining mul- tiple servo amplifiers together. Either ports can be used as input or output. The signals are simply passed through the servo amplifier that in the event of one servo amplifier node is down (power is off), the rest of the nodes on the CANopen network still operable.

  • Page 41: Motor Feedback

    Reset A reset clears all faults, resets the DSP and initializes the amplifier. All the Alpha Series amplifiers can be externally reset through the amplifier’s Controller I/O port (RESET IN pin). In addition, the SMX94XX amplifiers have an additional push button switch to performs a reset.

  • Page 42: Connecting The Amplifier To The Motor

    Note: GC2400-AL005AM-000 is a female DB-9 on one end and RJ45 on the other end. In case that the Host Computer only has USB ports, a USB to RS-232 adapter (Glentek P/N GC2410- 001) is needed in addition to the Host cable. There are two industry standard adapters that Glentek had tested and known to be good that you may purchase.

  • Page 43: Applying Power

    1. Start MotionMaestro©, establish communication with the amplifier in one of two methods below: a. Communications>Open> [select “Alpha Series”, proper COM port, and ensure that a baud rate of 115200 is selected when communication method is by RS-232/USB, and then click “OK”.] b.
  • Page 44 See Appendix H “Amplifier Terms and Technology” for details. Disable the amp, if it is not already, and send the parameters to the amplifier. Dialog box for setting up motor commutation Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 45 Glentek’s servo drives. Please refer to Appendices A and D for more detail. Once you find the correct phasing, turn the Bus power off, connect the motor leads to the drive and pro- ceed to the next step.

  • Page 46: Current (Torque) Mode Tuning

    GII gain never gets more than ten (10) percent of GIP. Therefore, do not add too much as system may become unstable (motor makes audible sound). 6. Save setting to NVM, Setup>Save to NVM. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 47: Smart-Comm Tuning

    Note: For smart-comm commutation method, the commutation tracks are not needed (only incre- mental encoder is needed) as shown in the Current Loop Control Diagram Alpha Series on page 17. Skip this section if Hall signals or commutation tracks are available.

  • Page 48: Current (Torque) Mode Running And Setting

    “0” Amp on the oscilloscope. 5. Save the configuration to non-volatile memory by select Setup > Save to NVM… in Menu Tool Bar of Motion Maestro. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 49: Velocity (Rpm) Mode Tuning

    Amplifier Tuning Velocity (RPM) Mode Tuning For this section, refer to the Velocity Control Loop Diagram Alpha Series (page 16). Before starting this section, be sure you have completed the amplifier current mode tuning section. (pages 46 & 48) GVS (Gain Velocity Scale) Setting Before starting the velocity tuning, be sure to select a proper GVS (gain velocity scale) multiplier.

  • Page 50: Velocity Loop Pid Setting

    Enter “Step Duration (1 secs), Enter “Inter-Step Dwell (1 secs). Choose “Step Direction” (Bidirectional). Choose “Test Mode” (Continuous). Select “OK” to close window. Dialog box for setting up step function Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 51 MotionMaestro has the focus. 8. The following illustrations provide a reference for the waveforms on the Oscilloscope. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 52 5. Go back to the “Tuning Setup” window, enable the amplifier, and press the “Start (Continuous)” button in the function generator group. Note: Press “OK” when the “Execute Test” pop up window appears. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 53: Pulse Follower Position Mode Tuning

    Setup window on page 26 and disable acceleration and deceleration limits by checking appropriate boxes. Set maximum speed of motor into velocity limit box. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 54: Setup Pulse/Direction Follower

    Alpha Series Digital PWM Amplifier Manual Setup Pulse/Direction Follower All Alpha Series can operate in either Pulse (Step)/Direction Follower or in Encoder Follower mode. When operate in Pulse (Step)/Direction Follower mode, the first input is a pulse train used to establish the absolute distance and velocity of the command and the second input is a direction signal used to establish the direction of rotation of the command.

  • Page 55: Setup Encoder Follower

    1 to 1 ratio. That is, the remote motor with 5000 line encoder will rotate one revolution when the 4096 line encoder motor rotates one revolution. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 56: 2-Phase Current (Torque) Mode Tuning

    2.5A on phase R and S current commands and -5.0A on phase T current command. 7. Set the controller command signals to 0V. 8. Save to NVM by selecting Setup > Save to NVM… Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 57: Tachometer Feedback Setup And Tuning

    10.2 On the Scope set up window, select “Velocity Measured” option from “Source” under “Data Attributes” for trace 2. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 58: Motor Running

    Scope. Verify that the two velocity readings are similar.  7. Set the controller command signals to 0V. 8. Save to NVM by selecting Setup > Save to NVM… Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 59: Appendices

    Table A - 1.6. Stand-Alone AC Power Mating (SMX9415) Description/Type 4-Pin Female Mating Connector Right angle Phoenix GMVSTBW 2,5/4-ST-7,62 Inline Phoenix GMSTB 2,5/4-ST-7,62 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 60 Input AC LINE 1, single phase/three phase Table A - 1.14. Module Power/Motor Mating Connectors (SMX9420) Description/Type 8-Pin Female Mating Connector Right angle Phoenix GMSTB 2,5 HCV/ 8-ST-7,62 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 61 Input/output COMMON Logic Ground Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 62 Encoder +5VDC Power out, 150 mA max Power Common Enc Pwr Return, Logic Ground (Digital) Power Enc Pwr Encoder +5VDC Power out, 150 mA max Enc Pwr Return, Power Common Logic Ground (Digital) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 63 Backshell, Squeeze Latch Mini D Ribbon, 24-30 AWG, Solder Cup, Plastic Backshell, 3M 10120-3000VE 3M 10320-52F0-008 Squeeze Latch Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 64 Output Relay Out Contact closure 21 to 22 (optional) Input Signal 1 + Analog 1 command signal + Input Signal 1 – Analog 1 command signal – (not) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 65 Description/Type Connector Housing Backshell Mini-D Ribbon, 24-30 AWG, Solder cup. Plastic backshell, 3M10136-3000VE 3M10336-52F0-008 squeeze latch Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 66: B Amplifier Status Codes

    No Halls: Phase finding routine failed Drive processor is in reset Reset Logic power indicator Single outer Amp enabled Amp Enabled, Hall segment Segment indicates one of six hall states Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 67 Stay On Reserved Reserved Blinks Three Blinks Three Reserved Reserved Blinks Four Blinks Four Reserved Reserved Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 68 SMx9508 is non-isolated. That is, its logic input circuits and power input circuits are not isolated. Therefore, an isolated DC power supply is required for the module, and an isolated transformer is required for the multi-axis chassis assembly. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 69: Specifications

    4) The amplifier module (SMX9508-1) is non-isolated. That is, its logic input circuits and power input circuits are not isolated. Therefore, it requires an isolated DC power supply. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 70: D Matching Motor Phase Leads To Amplifier Commands Using Hall Sensors

    Please note: At Glentek we take great care that all motors are phased identically, during final test, we insure the motor back EMF, encoder and hall sensors are aligned exactly the same way for each motor we ship.
  • Page 71 The system is now aligned. You can create a Backup File, and then restore to identical systems. Sys- tems must be identical and connected exactly the same. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 72: Manual Phasing Procedure

    ). Alternately, Ethernet communication be- © tween the amplifier and the computer is possible when using the Glentek Communication Module CM998-1. Please contact one of Glentek sale engineers for further detail. C) Apply power to the amplifier and establish communications between the amplifier and MotionMaes- ©...
  • Page 73 2 vertical scale to around 2V per division. Set the horizontal scale to around 100 ms per division. Scaling may need to be changed in order to best see the data. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 74 Hall sensors are aligned with the motor’s phase to neutral BEMF, then the commutation off- set angle must be set to +30 or -30 degrees (you have to try both) before comparing the commands to the BEMF waveforms. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 75 “Save to NVM” from the setup menu. The motor should now be properly commutated and phased. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 76: E Determining Encoder Resolution And Number Of Poles

    V, V&W, W, W&U, and U). Take the number of full Hall cycles and multiply by two. This is the Number of Poles that you will enter in your Commutation dialog. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 77: F - Commutation Track Signals And Phase-To-Phase Bemf

    LED display will transition in a CW direction. Encoder Outputs The following illustrates the encoder signals for a standard Glentek motor that is correctly com- mutated where the encoder is not reversed (FER=0) and the tachometer feedback is reversed (TR=1).

  • Page 78: G Replacement For Omega Series Amplifiers

    That is, you just can not simply extract the backup file from an Omega Series amplifier and restore it to the Alpha Series amplifier and expect it to work the same. You need to retune your new Alpha Series amplifier. Refer to Amplifier Tuning section starting on page 43 for more information.
  • Page 79 48 to run the motor in Current mode. 10. Verify that for the same polarity Current command in Motion Maestro Control Panel window, the Alpha Series amplifier command the motor to rotate in the same direction as that of the Omega Se- ries amplifier.

  • Page 80: H European Union Emc Directives

    EMI immunity. Therefore, it is important to select equipment that has been designed and tested for industrial environments. The EMI standards for industrial equipment include the EN61000-4-X series (IEC 1000-4-X and IEC8O1-X), EN55011 (CISPR11), ANSI C62 and C63 and Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 81 The filter must be mounted close to the drive-input terminals, particularly with higher fre- quency emissions (5-30 MHz). If the distance exceeds 600mm (2 feet), a strap should Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 82 AC line. However, the motor cable still carries a large HF voltage and current. Therefore, it is very important to segregate the motor cable from the AC power cable. More information on cable shielding and segregation is contained in the section on shielding. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 83  Shield termination at both ends is extremely important. The common misconception that shields should be terminated at only one end originates from audio applications with frequen- Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 84 1. A ferrite toroid or “doughnut” around a signal cable may attenuate common mode noise, par- ticularly RS-232 communication problems. However, a ferrite toroid will not help differential mode noise. Differential mode noise requires twisted wire pairs. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 85 120-250VAC use: Schaffner FN258-75 or equivalent. 75A-100A input current, 120-250VAC use: Schaffner FN258-100 or equivalent. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 86: European Union Declaration Of Incorporation Motion Control Systems

    Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 87: I Amplifier Terms And Technology

    The SMX94XX/SMX95XX amplifiers have two power-on commutation initialization methods available for Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 88 Phase Lead Glentek’s advanced algorithms provide automatic phase lead and eliminate the need to manually spec- ify phase lead. These advanced algorithms ensure that the system is operating at the highest possible speed and with maximum efficiency.
  • Page 89 Note: For smart-comm commutation method, the commutation tracks are not needed (only incre- mental encoder is needed) as shown in the Current Loop Control Diagram Alpha Series on page 17. If you are planning to use smart-comm, be sure to contact your Glentek sales agent first, and he/she can have these following variables preset at the factory before shipment.

  • Page 90: Technology

    3-phase AC motor. SVPWM also provides a more efficient use of the supply voltage in comparison with sinusoidal modulation methods. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 91: J Amplifier Model Numbering

    Note: SMX9508 is non-isolated. Therefore, an isolated power supply is highly recommended for optimal performance. SMC9508 requires external 5VDC “Keep Alive” input to power up the logic and encoder. Please contact one of Glentek sale engineers if logic power other than 24VDC is needed for SMC94XX/SMC9515.

  • Page 92: Smx9508 Amplifier Model Numbering

    Number of amplifiers installed. Power Input Voltage Continuous Peak Power Current Current Module Chassis (Amps) (Amps) (VDC) (VAC) Standard 70 - 190 110 - 130 Standard 24 - 70 17-50 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 93 Four axis chassis, AC Input Pulse Follower, Molex Standard Power, 110 - 130 VAC External 5VDC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 94: Smx9515 Amplifier Model Numbering

    Designates BUS Logic Power. x = C Designates External 24VDC Logic Power. Input BUS and Power Rating Configuration Code. Functionality Configuration Code. Mounting Configuration Code. Number of amplifiers installed. Fan Power. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 95 The older style bus power supply was designated as 2A and 4A which can be special ordered upon request. ** 5-Axis Chassis is available. Consult with Glentek sales department before selecting this option. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 96 SMC9515 - 100 - 107 - 4B - 3 - 2 230VAC Fan Three amplifier modules installed Four axis chassis, AC Input Pulse Follower, Molex Standard Power, 208 - 240 VAC External 24VDC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 97: Smx9408 Amplifier Model Numbering

    110 - 130 High 110 - 130 * Consult with Glentek sales department before selecting this option, and it requires external forced-air cooling. It is highly recommended that SMx9410 amplifier is ordered when current requirement of this level or higher is needed.
  • Page 98 SMB9408 - 003 - 001 - 1A - 1 One amplifier installed Single axis Stand Alone, AC Input Standard Feature, Mini-D Standard Power, 110 - 130 VAC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 99: Smx9410 Amplifier Model Numbering

    1F package than that of the 1D (see 1 - axis Stand Alone 1F** installation drawings for further info). With Regen Circuit Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 100 SMC9410 - 101 - 107 - 1F - 1 One amplifier installed Single axis Stand Alone, AC Input (with Regen Circuit) Pulse Follower, Molex High Power, 208 - 240 VAC External 24VDC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 101: Smx9415 Amplifier Model Numbering

    Input BUS and Power Rating Configuration Code. Logic Board Configuration Code. Mounting Configuration Code. Single amplifier module. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 102 The older style bus power supply was designated as 2A and 4A which can be special ordered upon request. ** 5-Axis Chassis is available. Consult with Glentek sales department before selecting this option. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 103 (without Built-in Regen) Pulse Follower, Molex High Power, 208 - 240 VAC External 24VDC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 104: Smx9420 Amplifier Model Numbering

    Pulse Follower RJ45 Mini-D Molex 2 phase Current Mode RJ45 Mini-D Molex Brush Type and Encoder RJ45 Mini-D Molex Brush Type and Tachometer RJ45 Mini-D Molex CANopen RJ45 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 105 Single axis Stand Alone, AC Input Standard Feature, Mini-D Standard Power, 208 - 240 VAC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 106: Smx9430 Amplifier Model Numbering

    Pulse Follower RJ45 Mini-D Molex 2 phase Current Mode RJ45 Mini-D Molex Brush Type and Encoder RJ45 Mini-D Molex Brush Type and Tachometer RJ45 Mini-D Molex CANopen RJ45 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 107 Single axis Stand Alone, AC Input Standard Feature, Mini-D Standard Power, 208 - 240 VAC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 108: Smx9445 Amplifier Model Numbering

    Pulse Follower RJ45 Mini-D Molex 2 phase Current Mode RJ45 Mini-D Molex Brush Type and Encoder RJ45 Mini-D Molex Brush Type and Tachometer RJ45 Mini-D Molex CANopen RJ45 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 109 Single axis Stand Alone, AC Input Standard Feature, Mini-D Standard Power, 208 - 240 VAC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 110: Smx9475 Amplifier Model Numbering

    Pulse Follower RJ45 Mini-D Molex 2 phase Current Mode RJ45 Mini-D Molex Brush Type and Encoder RJ45 Mini-D Molex Brush Type and Tachometer RJ45 Mini-D Molex CANopen RJ45 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 111 Single axis Stand Alone, AC Input Standard Feature, Mini-D Standard Power, 208 - 240 VAC Logic Power Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 112: K Factory Repair , Maintenance And Warranty

    Appendix K Factory Repair, Maintenance and Warranty Factory Repair Should it become necessary to return an servo drive to Glentek for repair, please follow the procedure described below: Reassemble the unit, if necessary, making certain that all the hardware is in place.

  • Page 113: Warranty

    Under no circumstances shall Glentek, Inc. or any of our affiliates have any liability whatsoever for claims or damages arising out of the loss of use of any product or part sold to you.

  • Page 114: L Drawings

    Amplifier, With Built-In DC Power Supply, STD, and HI Power, Molex (Stand Alone, w/ Ext. Regen) SMB/SMC9410-1F Amplifier, With Built-In DC Power Supply, STD, and HI Power, Mini-D (Stand Alone, w/ Ext. Regen) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 115 Standard Power, Molex (Stand Alone, With Regen) SMB/SMC9475-1B Amplifier, With Built-In DC Power Supply, Standard Power, Mini-D (Stand Alone, With Regen) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 116 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 117 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 118: Axis Base Plate Chassis Installation

    Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 119: Smb / Smc9508 4 Axis Base Plate Chassis Installation

    Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 120 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 121 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 122 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 123: Axis Base Plate Chassis Installation (Hi Pwr)

    Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 124: Smb / Smc9515 4 Axis Base Plate Chassis Installation (Std/Lo Pwr)

    Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 125: Smb / Smc9515 4 Axis Base Plate Chassis Installation (Hi Pwr)

    Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 126 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 127 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 128 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 129: Amplifier Module High Power, Mini-D

    Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 130: Smb / Smc9415 2 Axis Base Plate Chassis Installation (Std/Lo Pwr)

    Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 131: Smb / Smc9415 2 Axis Base Plate Chassis Installation (Hi Pwr)

    Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 132 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 133 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 134 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 135 Appendix L This Page is Intentionally Left Blank Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 136 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 137 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 138 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 139 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 140 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 141 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 142 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 143 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 144 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 145 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 146 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 147 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 148 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 149 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 150 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 151 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 152 Alpha Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 153 Appendix L Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 154 Alpha Series Digital PWM Amplifier Manual This Page is Intentionally Left Blank Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 155 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 156 Alpha Series Digital PWM Brushless Servo Amplifiers PWM (Pulse-Width-Modulated) Brushless servo amplifiers to 20KW  Analog Brush Type Servo Amplifiers Linear Brush type servo amplifiers to 2.6KW  PWM (Pulse-Width-Modulated) Brush type servo amplifiers to 28KW  Analog Brushless Servo Amplifiers Linear Brushless servo amplifiers to 3.5KW...

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