Page 1 INSTALLATION & OPERATION MANUAL Gamma Series Digital - High Bandwidth PWM Brush and Brushless Servo Drives SMB/SMC 9G16 Congratulations, You Cared Manual Revision Date: Enough to Buy the Very Best! 27 January 2021...
Page 2 Revision History Page Description Date Changes APPD Initial Release 4295 5NOV20 D.C.R. L.P. Corrected status display codes table 4295 27JAN21 D.C.R. L.P.
Page 3: Table Of Contents
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS TABLE OF CONTENTS TABLE OF CONTENTS ............................ 3 TABLES ................................6 FIGURES ................................7 1. OVERVIEW ..............................8 2. PRODUCT DESCRIPTION ..........................9 2.1 F ..............................11 EATURES Performance ............................ 11 Regulatory ............................
Page 4 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 4.4 P ............................73 OSITION Pulse Follower Position Mode Tuning ..................... 73 Configure Pulse and Direction Follower Mode ................75 Configure Encoder Quadrature A/B (Encoder Follower) Mode ............77 Configure CW and CCW Pulse Follower Mode ................79 4.5 T...
Page 5 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 6.4 R ....................133 EPLACEMENT FOR LPHA ERIES RIVES 6.5 D ......................134 RIVE ERMS AND ECHNOLOGY Terms ............................134 Technology ............................ 136 6.6 C ........................138 ONTROL LOCK IAGRAMS Position Mode Control Diagram ....................
Page 6: Tables
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Tables Table 2-1 – Product Features ......................10 Table 2-2 – Environmental Conditions ...................15 Table 2-3 – Electrical Ratings ......................17 Table 2-4 – Stand Alone Dimensions .....................19 Table 2-5 – Module Dimensions ....................20 Table 2-6 –...
Page 7: Figures
Figure 4-2 Brake/Stop Sequence If Zero Speed Window is Reached ..........72 Figure 4-3 Brake/Stop Sequence If Maximum Deceleration Time is Reached ....... 72 Figure 6-1 Glentek Standard Commutated Encoder Signals ............131 Figure 6-2 EMI Source-Victim Model ................... 164 Figure 6-3 Single Point Ground Types ..................
Page 8: Overview
This manual guides you through the steps necessary for the installation of Gamma Series Digital PWM Servo Drives. In this manual, all the features of the Gamma Series are explained. Also, it covers the procedures for installation and tuning. The following sections are presented in an order that will make installation easy for first time users of Gamma Series Drives.
Page 9: Product Description
Set-up, tuning, and system diagnostics are accomplished using MotionMaestro (Glentek’s Windows-based software). Glentek can customize a serial port digital interface to adapt to your controller as required to meet your protocols, such as Ethernet, CAN, RS485, etc.
Page 10: Table 2-1 - Product Features
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 2-1 – Product Features Command/Control Modes +/-10 VDC for current (torque) or velocity (RPM) Pulse (step) and direction Encoder follower CW/CCW (up/down mode) External sine commutation (2-phase current mode) RS-232 &...
Page 11: Features
Auto Phase Finding: The Gamma Series Drives provide a Plug and Play ability for all types of three phase brushless motors. They also provide control engineers the ability to connect any motor leads to any drive motor outputs.
Page 12 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Command/Control Modes: The control modes are +/-10 VDC for current (torque) or velocity (RPM), pulse (step) and direction, encoder follower, and external sine commutation (2-phase current mode). The command modes are RS-232, RS-485, Ethernet, PWM for current (torque) or velocity (RPM), camming/gearing, Indexer/Point-to-Point, and CANopen.
Page 13: Regulatory
The Gamma Series accepts analog signals from all types of tachometer feedback. Programmable Functions: All Gamma Series drives are equipped with an I/O port to command or view the following functions: analog signal command, +/- limits, inhibit/enable, fault, reset, motor temperature, encoder, step, and direction.
Page 14: Build
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Direct AC Operation: The stand-alone units and multi-axis chassis include DC BUS power supplies, cooling fans, and a regen clamp with a dumping resistor. External Logic Supply: Some Gamma drives come equipped with an external logic supply of 24 –...
Page 15: Environmental Conditions
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 2.2 Environmental Conditions Table 2-2 – Environmental Conditions -40°C to 80°C Storage Temperature Operating Refer to the Electrical Ratings Table (see Temperature 5 – 95% relative humidity, non-condensing. Humidity Range...
Page 16: Smx9G16 Ratings, Specifications And Numbering
VIEW TABLE OF CONTENTS 2.3 SMx9G16 Ratings, Specifications and Numbering This section explains the model numbering system for Glentek’s Gamma Series Digital PWM Servo Drives. The model numbering system is designed so that you, our customer, will be able to quickly and accurately create the model number for the drive that best suits your needs.
Page 17: Table 2-3 - Electrical Ratings
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 2-3 – Electrical Ratings Available Package Input Voltage Output Current Heatsink Type Configurations Model Cont. Peak Model Stand Stand Multi- Module Module Code A (A A (A Code Alone...
Page 18 Category 3: 0 to 40 °C without derating. Derate current 3% per °C over 40 °C. Category 4: 0 to 30 °C without derating. Derate current 2.5% per °C over 30 °C. Special: Contact Glentek for models with a lower operating temperature limit of -40 °C. (3) Model Codes are used on pg.
Page 19: Package Configurations And Dimensions
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 2.4 Package Configurations and Dimensions Stand Alone This package consists of a drive, DC bus power supply, optional regen clamp with dumping resistor, in- rush current limiting protection at power-on, and one or more cooling fans. This type of package is typically used for one or multi-axis applications.
Page 20: Table 2-5 - Module Dimensions
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 2-5 – Module Dimensions Dimensions, Inches (mm) Weight Heatsink Type Width Height Depth lbs. (kg) L-Bracket 2.0 (51) 7.6 (193) 8.8 (224) 2.6 (1.2) Short Fin 2.5 (64) 7.6 (193) 8.8 (224)
Page 21: Smx9G16 Stand Alone Model Numbering
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 2.5 SMx9G16 Stand Alone Model Numbering 9G16 On-Board or External Bus Logic Bus Power Logic 24 VDC External Logic Power, Keep Alive Input Voltage 208-240 VAC 460-500 VAC 110-130 VAC...
Page 22: Smx9G16 Module Model Numbering
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 2.6 SMx9G16 Module Model Numbering 9G16 On-Board or External Bus Logic Bus Power Logic 24 VDC External Logic Power, Keep Alive Input Voltage 24-60 VDC 190-370 VDC 565-710 VDC 60-190 VDC...
Page 23: 9G16 Multi -Axis Model Numbering
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 2.7 SMx9G16 Multi-Axis Model Numbering 9G16 On-Board or External Bus Logic Bus Power Logic 24 VDC External Logic Power, Keep Alive Input Voltage 360-400 VAC 110-130 VAC 460-500 VAC 208-240 VAC...
Page 24: Drive Interface And Wiring
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3. Drive Interface and Wiring This section describes the drive connections and pin specific functions. Refer to the drive’s installation drawings in the Appendix to locate the connectors on the drives.
Page 25: Table 3-1 - Controller I/O Configuration
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 3-1 – Controller I/O Configuration Pin # Pin Name Pin Function Ded./PGM Pin Type Group #’s Signal 1- Analog Command Signal 1- Ded. Input Signal 1+ Analog Command Signal 1+ Ded.
Page 26: Programmable Digital Inputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Programmable Digital Inputs 3.1.1.1 Optically Isolated Programmable Digital Input There are five optically isolated inputs available which share the same opto-common. These inputs are electrically isolated from the drive, allowing signals from devices that are not connected to the drive common to be received.
Page 27: Table 3-3 - Schmitt Trigger Input Specs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3.1.1.2 Schmitt Trigger Programmable Digital Input There are six Schmitt trigger inverter logic inputs. These inputs may be programmed as a group to be pulled up to 5V or pulled down to common. Most functions may be assigned to these inputs.
Page 28: Table 3-4 - Differential Digital Input Specs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 3-4 – Differential Digital Input Specs Logic High Differential > 200 mV Input Voltage Logic Low Differential < -200 mV Common Range -7 V to 12 V Cut off Frequency...
Page 29: Figure 3-5 Differential Digital Input Single Ended
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS GAMMA DRIVE CONTROL 1.00K 2.00K 1.00K DIGITAL PIN 28 Diff. 1 in + SINGLE END OUTPUT 1.00K PIN 27 Diff. 1 in - DIGITAL PIN 13 Diff. 2 in + SINGLE END 2.00K...
Page 30: Figure 3-6 Motor Over Temperature Input
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3.1.1.4 Motor Over Temperature Input Pin 20 is dedicated as a motor over temp input. This pin can be configured as active high or low. When this signal is active, the drive displays a lower case “h”, latches the fault, and disables the drive.
Page 31: Programmable Digital Outputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Programmable Digital Outputs 3.1.2.1 MOSFET Programmable Output There are three general purpose programmable MOSFET outputs. The outputs have a pull-up resistor in series with a diode connected to the drive’s internal +5 VDC supply. The diode prevents current flow from an externally supplied DC voltage source.
Page 32: Table 3-6 - Optically Isolated Output Specs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3.1.2.2 Optically Isolated Programmable Digital Outputs There are two independent optical outputs. Table 3-6 – Optically Isolated Output Specs 10 mA Output Sink Current (Max) .3 V Output Voltage Saturation...
Page 33: Table 3-7 - Relay Output Specs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3.1.2.3 Relay Output A relay output is available on request. Consult a Glentek application engineer for more information. Table 3-7 – Relay Output Specs Relay Current 30 VDC Relay Voltage...
Page 34: Analog Inputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Analog Inputs There are two differential analog inputs. A 16-bit analog to digital converter digitizes the signal for processing by the DSP. If a single-ended input is desired, then Signal (-) should be connected to Signal common, and the command input should be connected to Signal (+).
Page 35: Figure 3-11 Single Ended Analog Input
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Figure 3-11 Single Ended Analog Input 208 Standard Street, El Segundo, California 90245, (310) 322-3026...
Page 36: Analog Outputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Analog Outputs There are two programmable analog output channels (see Table 3-1). The digital to analog converter has 12-bit resolution. The output range is -10 V to +10 V with 12-bit resolution. The analog output can be used to monitor drive signals at the servo update frequency.
Page 37: Table 3-10 - Analog Output Function List
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 3-10 – Analog Output Function List Analog Output Function List Test Voltage S Current Measured Current Measured T Current Measured Velocity Measured R Voltage Command Velocity Command S Voltage Command...
Page 38: Encoder Outputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Encoder Outputs Figure 3-13 shows the encoder output channels on the I/O connector. The drive is capable of dividing a TTL encoder count to a lower count (1,2,4,8) as well as creating different output counts from a resolver or sin/cos encoder.
Page 39: Programmable Digital Input Functions
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Programmable Digital Input Functions Drive functions are assignable to the digital inputs. There are different function types which segregate the drive functions into 3 groups: multiple inputs, one input only, and specific inputs. See Section 5.12...
Page 40: Programmable Digital Output Functions
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Programmable Digital Output Functions The drive functions in these tables can be assigned to the programmable digital outputs. See Section 5.13 for more information about setting up digital outputs in MotionMaestro.
Page 41: Table 3-13 - Programmable Digital Output Functions (Status)
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 3-13 – Programmable Digital Output Functions (Status) Status Description STO Active STO (Safe Torque Off) input activated Drive Fault One or more of the internal drive faults has occurred...
Page 42: Brake/Sto Connector
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3.2 Brake/STO Connector For the brake/STO mating connector, the recommended wire size is 24 AWG, but the mating connector can accommodate wire sizes from 16 to 28 AWG. Figure 3-14 Logic Power/Brake Connector (Standard)
Page 43: Logic Power Inputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 3-14 – Brake/STO Connector Pin Function Pin # Pin Name Pin Function Pin Type Ext +24 VDC Rtn +24 VDC Return Input Brake Drive Brake Output Ext +24 VDC In...
Page 44: Brake Output
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Brake Output There is one optically isolated output available for the brake output. It is internally connected to the +24 VDC input by a flyback diode. Refer to Figure 3-16 for the circuitry.
Page 45: Sto Inputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS STO Inputs STO (Safe Torque Off) is an optional safety feature that has a dedicated optically isolated physical pathway to the drive output devices allowing these devices to be de-energized to a safe condition independent of all drive control software.
Page 46: Communication Interface
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3.3 Communication Interface Servo Drive Serial Communications Connector The following tables are pin directories for the connector that contains circuits involved with communication interface content. Table 3-18 – RJ45 Mating Connector...
Page 47: Figure 3-19 Rs-232 Chip Information
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS RS-232 The PC interface can be found at the HOST connector. A RS-232 interface is on the outside of the drive. This port is the primary means of communication with the drive for setup and control. The port utilizes an RJ-45 type connector.
Page 48: Canopen Interface
VIEW TABLE OF CONTENTS CANopen Interface The CANopen interface can be used via the HOST, COM1, or COM2 connector. Glentek Gamma Series Drives employ the CANopen protocol that is based on the CAN Physical Layer as described in the CAN in Automation (CiA) standard DS-301 V4.02. This port is the primary means of communication with the CANopen network for real-time control.
Page 49: Figure 3-20 Rj45 Double Mating Connector
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Figure 3-20 RJ45 Double Mating Connector Figure 3-21 CANopen Connection Diagram 208 Standard Street, El Segundo, California 90245, (310) 322-3026...
Page 50: Motor Feedback Connector And Wiring
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3.4 Motor Feedback Connector and Wiring For the motor feedback mating connector, the recommended wire size is 28 AWG, but the crimp pins can accommodate wire sizes from 22 to 28 AWG.
Page 51: Table 3-23 - Motor Feedback Specs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 3-23 – Motor Feedback Specs Voltage +5 V Output Voltage Maximum Current 150 mA Logic High Differential > 200 mV Input Voltage Logic Low Differential < -200 mV Common Range...
Page 52: Figure 3-24 Digital Hall Circuit (Single Ended)
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Figure 3-24 Digital Hall Circuit (Single Ended) Glentek: Solutions for Motion Control...
Page 53: Tachometer
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Tachometer Table 3-25 – Tachometer Sensor Specs Input Voltage Max Voltage +/- 30 V * 5 KHz Cut off Frequency * Other voltages available on order GAMMA DRIVE MOTOR 30.0K...
Page 54: Resolver
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Resolver Table 3-26 – Motor Feedback Designations: Resolver Pin # Pin Name Pin Function Reserved Reserved Sin - Sine Signal Input - Cos - Cosine Signal Input - Exc_Out -...
Page 55: Sin/Cos Encoder
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Sin/Cos Encoder Table 3-27 – Motor Feedback Designations: Sin/Cos & Absolute Encoder Pin # Pin Name Pin Function +5 VDC Encoder +5 VDC Power Out Sin - Sine Signal Input -...
Page 56: Servo Drive Motor And Power Connectors
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 3.5 Servo Drive Motor and Power Connectors The servo drive motor and power connectors are suitable for field wiring of 24 AWG to 10 AWG solid/stranded wire. Select wire gauge based on continuous current requirement.
Page 57: Table 3-29 - Ul And Non-Ul Stand Alone Ac Power Input Designation - 4 Pin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS MOTOR GAMMA DRIVE BRUSHLESS Phase T Phase S Phase R Chassis Motor Case Figure 3-30 UL and Non-UL Stand Alone Motor Output Brushless MOTOR GAMMA DRIVE BRUSHTYPE Motor - Motor +...
Page 58: Figure 3-32 Ul Stand Alone Ac Power Input Connector
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Figure 3-32 UL Stand Alone AC Power Input Connector Figure 3-33 Non-UL Stand Alone AC Power Input Connector Glentek: Solutions for Motion Control...
Page 59: Table 3-30 - Ul And Non-Ul Module Dc Power Input And Motor Output Designation - 5 Pin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS GAMMA DRIVE AC POWER *Line filter *L1 out *L1 in *L2 out *L2 in *L3 out *L3 in Chassis Figure 3-34 UL and Non-UL Stand Alone AC Power Input Table 3-30 – UL and Non-UL Module DC Power Input and Motor Output Designation –...
Page 60: Figure 3-36 Non-Ul Module Dc Power Input And Motor Output Connector
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Figure 3-36 Non-UL Module DC Power Input and Motor Output Connector DC POWER GAMMA DRIVE SUPPLY MOTOR BRUSHLESS Phase T Phase S Phase R Chassis Motor Case Figure 3-37 UL and Non-UL Module DC Power Input and Motor Output...
Page 61: Drive Setup
4.1 Using MotionMaestro to Setup a Brushless Motor This guide is intended for users who are looking to quickly setup their Gamma Series Drive for use with a rotary brushless motor that uses a quadrature (TTL) encoder with Hall sensors or commutation tracks.
Page 62 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS c. Select Brushless and Rotary for Motor Type and Configuration. Then check the boxes for Quadrature (TTL) and Hall under Feedback Type Selection. d. On the Commutation Config tab, select Hall for Initialization Type. Enter the Number of Poles for the motor (for more information on this, see p.
Page 63 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS e. Enter values for Velocity Loop gains. A starting point for general use would be 8 for Compensation (Master Gain), 200 for Integral, 32767 for Proportional, 0 for Derivative, and 32767 for Tach.
Page 64: Current (Torque) Mode
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 4.2 Current (Torque) Mode If you wish to run your drive in current (torque) mode, complete the following steps. Select Setup -> Drive Mode and click the tab for Current. Ensure that the drive is disabled.
Page 65: Signal Offset
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Type 0 into the Current (Amps) field and press enter to ensure that the motor will not move when enabled. Enable the drive, then press the >> button to positively increment the current command. Press the button until you see the motor move.
Page 66: Dead Band
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS It is also possible to determine the amount of Signal Offset by clicking the up and down arrows to the right of Signal Offset in the Drive Mode window while viewing the Commanded and Measured Currents.
Page 67: Current Mode Brake Operation
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Current Mode Brake Operation One option for a control system is to use a brake to hold an axis while the drive is disabled. Pin 2 on the Logic Power/Brake/STO connector is used for brake output. By including the brake output on the Logic Power connector instead of the Controller I/O connector, wiring is simplified when the brake wires are in the motor power cable.
Page 68: Velocity (Rpm) Mode Tuning
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 4.3 Velocity (RPM) Mode Tuning For this section, refer to the Velocity Control Loop Diagram (p. 141). Before starting this section, be sure you have completed the current mode tuning for the drive as described in the previous section.
Page 69: Figure 4-1 Oscilloscope Waveforms
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS  Proportional: 32767  Derivative: 0  Tach: 32767 3. Click on Setup Tuning Params, to open the Tuning Function Generator window to setup an excitation signal needed during velocity tuning: ...
Page 70: Velocity Mode Brake Operation
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS  Integral gain may be increased to achieve stiffness at zero speed. However, do not add too much, as the system may become unstable. Try to keep the maximum integral gain to less than 1000.
Page 71 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Brake/Stop Sequence The following sequence starts when the drive receives a disable command and Enable braking is checked. The motor starts to decelerate at the rate specified by Brake Deceleration. At the same time, a counter for Max Deceleration Time starts.
Page 72: Figure 4-2 Brake/Stop Sequence If Zero Speed Window Is Reached
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Figure 4-2 Brake/Stop Sequence If Zero Speed Window is Reached Figure 4-3 Brake/Stop Sequence If Maximum Deceleration Time is Reached Glentek: Solutions for Motion Control...
Page 73: Position Mode
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 4.4 Position Mode Pulse Follower Position Mode Tuning The user must first tune the velocity loop before tuning the position loop. See Velocity Tuning (p. 68). Be sure to save velocity loop coefficients to NVM.
Page 74 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Note: The Time range (horizontal axis) and Y-range (vertical axis) may need to be adjusted to properly display the Position Measured waveform. 7. Arrange the Oscilloscope window and the Servo Tuning window so that both can be seen side by side.
Page 75: Configure Pulse And Direction Follower Mode
(Hi/LO) that establishes the direction of the motor. Gamma Series Drives can accept pulse and direction inputs through three types of inputs, single ended Schmitt trigger inputs, opto-isolated inputs, or differential digital inputs. It is highly recommended that the user select and use differential digital inputs because they have good immunity to common mode noise.
Page 76 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Setup Position Mode. 1. Click on Setup -> Drive Mode. Disable the drive. 2. In the Position tab click Pulse Follower and Pulse and Direction. 3. Note: Ensure that the drive is disabled before...
Page 77: Configure Encoder Quadrature A/B (Encoder Follower) Mode
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Configure Encoder Quadrature A/B (Encoder Follower) Mode When operating in Encoder Follower Mode, the outputs of an incremental encoder or an encoder pot determine distance and direction. This is useful for slaving one motor to another by connecting the master motor’s encoder output to the slave motor’s drive.
Page 78 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Setup Position Mode. 1. Click on Setup -> Drive Mode. 2. In the Position tab, select Pulse Follower and Encoder Quadrature A/B. Note: Ensure that the drive is disabled before changing any PGI and PGO values, or click on the Reverse check box as it may cause undesired motor behaviors.
Page 79: Configure Cw And Ccw Pulse Follower Mode
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Configure CW and CCW Pulse Follower Mode When operating in CW (clockwise) and CCW (counter-clockwise) Mode, two input pulse trains are sent to the drive, one for CW rotation and one for CCW rotation.
Page 80: Two Phase Current Mode Tuning
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 4.5 Two Phase Current Mode Tuning The following procedure details the steps that allow the user to configure the drive to operate in two phase current mode with the most optimized settings. After each step, send the values to the drive and click on Setup ->...
Page 81: Configure Command Signal Inputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Configure Command Signal Inputs 1. Click on Tools -> Oscilloscope. Click on Settings and select Primary Command and Auxiliary Command traces to be displayed. Adjust the vertical scale so that the offsets can be observed clearly on the screen.
Page 82: Tachometer Feedback Dedicated Drive
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 4.6 Tachometer Feedback Dedicated Drive This section is only for users who have purchased a dedicated drive to run a brushed motor with an analog DC tachometer. Remember to save all changes (Setup -> Save to NVM). This section assumes you are already familiar with sending values to the drive and opening communications.
Page 83: Fine Tuning (Manual Tuning)
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 4.7 Fine Tuning (Manual Tuning) Current loop bandwidth values can be set manually if the user prefers. This is recommended if the motor inductance is less than 1 mH or more than 20 mH. Running Bode plots to optimize the response is recommended.
Page 84: Motionmaestro
The MotionMaestro installation program is named Setup.exe. It is found in the MotionMaestro directory of the distribution USB Memory Stick. 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 have multiple versions of MotionMaestro installed if you wish.
Page 85: Conventions Used In This Manual
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.3 Conventions used in this manual The following conventions will be used in this section to describe commands, mouse movements, and program menus: Main Application Window: This is the main window or view of the application. It contains the menus and the main toolbar.
Page 86: Motionmaestro Overview
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.4 MotionMaestro Overview When any parameters are changed, the drive must be disabled before sending these changes to the drive. Then, saving to NVM is a crucial step after values are sent to the drive to ensure the drive has the new parameters.
Page 87: Table 5-1 - Motionmaestro Menu Options
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 5-1 – MotionMaestro Menu Options Main Menu Selection Description File Editor Create new files or manage files. Exit Close MotionMaestro. Tools Setup Wizard View a tutorial on how to connect and operate the drive.
Page 88 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Main Menu Selection Description View Toolbar Choose to display the toolbar or remove the toolbar from the main window. Status Bar Choose to display the status bar (alert log) or remove the status bar from the main window.
Page 89: Communications
VIEW TABLE OF CONTENTS 5.5 Communications Before you can make changes to or view the configuration of your Gamma Series Drive, communications must first be established between MotionMaestro and the drive. This is done through a serial (RS-232/RS-485) connection. The following steps describe how to establish these communications once the drive is connected to the computer and the drive is powered on.
Page 90 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5. A notification will let the user know which type of drive is connected. After verifying the correct drive(s) is/are shown click OK. 6. If the drive is properly connected, the Comm Status bar at the bottom right of MotionMaestro’s main window will turn green.
Page 91: Motor Parameters
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.6 Motor Parameters Every motor configuration can be different. Therefore, the values entered into the Working column must match the motor parameters. Click on Setup -> Motor Parameters to open the Setup Motor Parameters window.
Page 92: Motor Safety
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.7 Motor Safety Found at Setup -> Motor Safety The Motor Safety window gives you access to parameters that set safety limits. These limits will protect the motor and drive from conditions when the current remains at an extreme amount for an excessive period.
Page 93: Table 5-3 - Motor Safety
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 5-3 – Motor Safety Parameter Description Current Limit Maximum peak current that the drive can output. Range: 0 to I Max (in Amps) see the Model Info window. Position...
Page 94: Commutation
Brushless, Brush, and Induction. Two-Phase motors are treated within the drive as Brushless motors with two-phase commutation and require additional circuitry inside the drive. Other motor types can be setup, but they should be discussed with your Glentek representative first. Glentek: Solutions for Motion Control...
Page 95 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS The motor type will most often be selected for you at the factory. If you received a drive which was not preconfigured for you, it will likely show up configured as a brushless motor. You can change the Motor Type, if needed, by clicking the appropriate radio button.
Page 96: Commutation Config Tab
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.9 Commutation Config Tab There are seven groups to configure within the Commutation Config tab. Not all seven are visible at once, only those which pertain to your current settings for Motor Type and Feedback Type Selection.
Page 97: Selection Of A Commutation Initialization Method
Selection of a Commutation Initialization Method Glentek recommends using either Hall or Resolver motor commutation. If you have specific needs which preclude the use of these initialization methods, contacting your Glentek representative is a great option to discuss additional methods.
Page 98: Correction Method
Note: For the Smart-Comm commutation method, the commutation tracks are not needed (only an incremental encoder is needed) as shown in the Current Loop Control Diagram Gamma Series on p. 142. If you are planning to use Smart-Comm, be sure to contact your Glentek representative first, and he/she can have the following variables preset at the factory before shipment.
Page 99: Simulated Hall
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Timer Ticks: This value is the amount of time that the commutation initialization will take. This value must be greater than the Ramping Time. This value is in seconds. Simulated Hall Drives create simulated Hall signals from feedback devices.
Page 100: Drive Mode
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.10 Drive Mode (Found at Setup -> Drive Mode) The drive can be set to operate in current (2-phase), velocity, or position mode. Current mode is always enabled. If the drive is selected to operate in 2-phase mode, it can only operate in this setting. You'll notice when you first bring this up on a new drive it will have the current mode automatically selected.
Page 101: Feedback Config Tab
If you need to enable Encoder Fault or Encoder Reverse, the checkboxes for these options are found here. The Additional Calculations button opens another window which contains information needed by Glentek customer support to help diagnose problems.
Page 102: Analog Motor Feedback Calibration
Analog Motor Feedback Calibration This box is factory set when the drive is preconfigured for a Resolver or Sin/Cos encoder. If it is necessary to set this in the field, consult a Glentek application engineer. Tachometer Data The Tach Scale (Volts/kRPM) should be set to match the value of the tachometer on your motor (7V/KRPM is a very typical value).
Page 103: Setup Digital Inputs
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.12 Setup Digital Inputs (Found at Setup -> Setup Digital Inputs) This window allows you to specify the functions associated with the programmable digital inputs. As shown below, the drive is equipped with six Schmitt inputs, five optical inputs and two differential inputs.
Page 104: Setup Digital Outputs
This window allows you to specify the functions associated with the programmable digital outputs. For the Gamma Series Drives, you may have different output options on your drive, but shown here are two optical outputs, two MOSFET outputs, and a relay output. The din connector pin numbers for each output, and the related settings for each of the outputs are also shown.
Page 105 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Each category can be expanded by clicking the + sign. In the Faults category, the faults you see are a list of the faults that relate to the Drive Status window (Status -> Drive Status…) and in Table 5-3.
Page 106: Filters
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.14 Filters Different filters can be chosen to fit any application. They can be edited and displayed at the same time, but they need to be opened one at a time. Filters are not always needed, but they help reduce noise caused by the motor.
Page 107: Table 5-5 - Filter Parameters
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 5-5 – Filter Parameters Parameter Description Working Parameters Allows the filter type to be selected. Working Coefficients Displays the filter coefficients that are currently being worked on. Drive Coefficients Displays the filter coefficients that are currently stored in the drive.
Page 108: Profile Generator
The Profile Generator setup is found under Tools -> Profile Generator. This screen is used to setup and test the profile generator function included in the Glentek drive. This functionality allows you to set up to 16 steps to be executed in order. Each step consists of a control type and control value, an action trigger and what to do next action.
Page 109: Table 5-6 Control Type/Mode
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Table 5-6 Control Type/Mode In current mode, the drive outputs the current specified in the control Current value field. Torque is measured in either in Lb-in or Nm, depending on the Torque units specified.
Page 110: Table 5-8 - Action Triggers
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS IMPORTANT: T O CHANGE THE PROFILE TO A NEW PROFILE ON THE DRIVE YOU MUST WAIT FOR THE CURRENT PROFILE TO FINISH EXECUTING OR ABORT THE PROFILE TO LOAD THE PROFILE SELECTED EITHER IN...
Page 111: Table 5-9 - Truth Table For Profile Address Selector (Pas) Pins
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS The second and third step will turn the motor until the encoder moves through 5000 counts (from the current encoder count) in the negative direction at -100 RPM and then move in the positive direction through 10,000 encoder counts at 50 RPM.
Page 112: Oscilloscope
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5.16 Oscilloscope The MotionMaestro Oscilloscope window is a full-featured, real-time data plotter and recorder that provides the following capabilities:  Real-time data plotting  Real-time data recording  Non-linear playback control during recording ...
Page 113: Adding Scope Channels
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Adding Scope Channels Scope channels are setup in the Channels tab of the oscilloscope Settings window using the following procedure: 1. Select the desired channel entry in the Channel list.
Page 114: Oscilloscope Channels Settings
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Oscilloscope Channels Settings This window sets up the channels that are to be displayed in the oscilloscope plot area and optionally recorded. Glentek: Solutions for Motion Control...
Page 115: Channel List
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Channel List The Channel list shows the current channels that have been setup for display in the scope plot area. There are 12 channels available to be setup, each taking a row in the list.
Page 116: Channel Source Section
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Channel Source Section This section displays the settings for the currently selected channel, allowing the user to make changes. Select Axis Select the axis for which the Channel Source fields refer. In Sweep mode (see Oscilloscope Settings General) only the Y option is available.
Page 117: Reference Information
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 6. Reference Information 208 Standard Street, El Segundo, California 90245, (310) 322-3026...
Page 118: O Nboard Status Display
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 6.1 On Board Status Display The onboard Status Display is an eight segment LED display. The following table describes the meaning of each code. Table 6-1 – Status Display Codes...
Page 119: Matching Brushless Motor Phase Leads To Motor Feedback
Figure 6-1 Commutation Track Signals and Phase-to-Phase BEMF If you are using a standard wound Glentek motor, alignment is performed at the factory. GMB and GMBF series motors use a Hall Signal Offset of 0 degrees. GMBM series motors use a Hall Signal Offset of -30 degrees.
Page 120: Verify Motor Phasing And Alignment
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Verify Motor Phasing and Alignment 1. The following equipment is required to verify motor phasing and alignment:  A 2 channel oscilloscope (four channel is best).  A 3-phase Y-connected resistive load as illustrated below.
Page 121 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 7. Select Setup -> Commutation.  Select the appropriate Motor Type and Configuration and Feedback Type.  On the Commutation Config tab, under Initialization Method, select Hall. Enter the Number of Poles for your motor (not pole pairs). Set all values under Phase Lead to 0.
Page 122 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9. Rotate the motor by hand in the clockwise direction when viewing the motor face, and verify the trace on channel 1 (Hall U signal) follows a rectangular wave pattern. Verify that the trace on channel 2 (T to R BEMF signal) is aligned with the trace from channel 1 (Hall U signal) according to Figure 6-1.
Page 123: Adjusting Alignment
If this is not possible, an offset can be added digitally with MotionMaestro. For complete instructions about aligning the feedback device with the motor BEMF waveforms, please contact Glentek. In brief, the procedure is as follows. 1. Remove the rear end cap of the motor.
Page 124: Manual Phasing Procedure
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Manual Phasing Procedure If you have already attempted to verify the motor phasing according to section 6.3.1, you may proceed to step 9. The setup described in steps 1-8 are identical.
Page 125 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 7. Select Setup -> Commutation.  Select the appropriate Motor Type and Configuration and Feedback Type.  On the Commutation Config tab, under Initialization Method, select Hall. Enter the Number of Poles for your motor (not pole pairs). Set all values under Phase Lead to 0.
Page 126 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9. Find the phases T and R motor leads. Rotate the motor by hand and verify the trace on channel 1 (Hall U signal) follows a rectangular wave pattern. Move the channel 2 scope probe and scope common to any two of the motor three leads to determine which BEMF waveform is in phase with the Hall U signal.
Page 127 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 13. Remove the drive’s power. Remove the scope probes. Remove the 3-phase Y-connected resistor power leads. Connect the motor phase R, S, and T leads to the drive’s R, S,...
Page 128: Auto Phasing Procedure
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Auto Phasing Procedure This procedure should only be used at the initial startup of a system. Once completed, the settings can be saved as a backup, and these settings can then be restored in future systems. Future systems must be identical and wired exactly the same.
Page 129 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 5. In the Auto-phase Mode section, select Step if the motor is linear or rotary type (with limited range of motion or travel distance). Alternately, if the motor has unlimited range of motion (during auto- phasing process), it is recommended to select Continuous auto-phase mode because it helps null out any uneven inertial load on the motor shaft and produce a higher accuracy phase alignment.
Page 130 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9. Verify that the motor phase wires are connected properly, number of poles (this is not pole pairs), and line per revolution (not the quadrature count) are set correctly. If all were correct, increase Final Current value to 60% of motor rated current.
Page 131: Determining Encoder Specs And Number Of Motor Poles
Setup -> Commutation, then select the Feedback Config tab. Then check the Encoder Reverse box. Press Send Settings To drive and Save to NVM. Encoder Outputs The following illustrates the encoder signals for a standard Glentek motor that is correctly commutated. Figure 6-1 Glentek Standard Commutated Encoder Signals A+ Encoder channel...
Page 132: Number Of Poles (Note: Requires Hall Sensors)
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Number of Poles (Note: Requires Hall sensors) Enable the drive. Mark a start position on the motor shaft. From the MotionMaestro Status menu, © select the Drive Status window. Monitoring the Hall U, Hall V, and Hall W display in the Drive Status window.
Page 133: Replacement For Alpha Series Drives
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 6.4 Replacement for Alpha Series Drives (Coming Soon) 208 Standard Street, El Segundo, California 90245, (310) 322-3026...
Page 134: Drive Terms And Technology
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 6.5 Drive Terms and Technology This appendix contains information that describes and explains the terms and concepts referred to in this manual. The information contained here is generic to drives and motion control technology in general.
Page 135 Hall state transition once motion is commanded. Phase Lead Glentek’s advanced algorithms provide automatic phase lead and eliminate the need to manually specify phase lead. These advanced algorithms ensure that the system is operating at the highest possible speed and with maximum efficiency.
Page 136: Technology
Current Loop Control Diagram Gamma Series. 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. However, the default value in the drive will work for most cases.
Page 137 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Integral Gain: This value can be initially set to 0. If a high Proportional Gain can be achieved, there will be very little movement during commutation initialization, and the Integral Gain may not be necessary.
Page 138: Control Block Diagrams
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 6.6 Control Block Diagrams Glentek: Solutions for Motion Control...
Page 139: Position Mode Control Diagram
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Position Mode Control Diagram 208 Standard Street, El Segundo, California 90245, (310) 322-3026...
Page 140: Command Input Control Diagram
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Command Input Control Diagram Gamma Series Command Input Control Diagram Analog Input Analog Input 16‐Bit Analog Input Analog Scale Velocity or to Digital Deadband Current Command Conversion (IAD) MM Set...
Page 141: Velocity Control Loop Diagram
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Velocity Control Loop Diagram Gamma Series Velocity Control Loop Diagram Proportional Gain Gain Velocity Mode 2 Mode 2 Velocity Velocity Loop Error MM Set Velocity Command Error Command Command Integer...
Page 142: Current Control Loop Diagram
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Current Control Loop Diagram Gamma Series Current Control Loop Diagram Filter 1 Filter 2 Filter 3 Mode 1 Current Command Loop Gain Programmable Programmable Programmable Current Limit (SVC) Set at Unity Gain...
Page 143: Dimensions
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 6.7 Dimensions 208 Standard Street, El Segundo, California 90245, (310) 322-3026...
Page 144: (Non-Ul) Smb/Smc9G16-1A/1B Standalone Short Fin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16-1A/1B STANDALONE: SHORT FIN HEATSINK (NON-UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1...
Page 145: (Ul) Smb/Smc9G16-1A/1B Standalone Short Fin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16-1A/1B STANDALONE: SHORT FIN HEATSINK (UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1...
Page 146: (Non-Ul) Smb/Smc9G16 Standalone Long Fin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16-1A/1B STANDALONE: LONG FIN HEATSINK (NON-UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1...
Page 147: (Ul) Smb/Smc9G16 Standalone Long Fin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16-1A/1B STANDALONE: LONG FIN HEATSINK (UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1...
Page 148: (Non-Ul) Smb/Smc9G16-1 Module L-Bracket
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16 MODULE: L-BRACKET HEATSINK (NON-UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1 Backshell (solder or crimp)
Page 149: (Ul) Smb/Smc9G16-1 Module L-Bracket
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16 MODULE: L-BRACKET HEATSINK (UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1 Backshell (solder or crimp)
Page 150: (Non-Ul) Smb/Smc9G16-1 Module Short Fin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16 MODULE: SHORT FIN HEATSINK (NON-UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1...
Page 151: (Ul) Smb/Smc9G16-1 Module Short Fin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16 MODULE: SHORT FIN HEATSINK (UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1...
Page 152: (Non-Ul) Smb/Smc9G16-1 Module Long Fin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16 MODULE: LONG FIN HEATSINK (NON-UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1...
Page 153: (Ul) Smb/Smc9G16-1 Module Long Fin
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 9G16 MODULE: LONG FIN HEATSINK (UL) Mating Connectors Description Glentek P/N Manufacturer P/N Provided Controller I/O, 44 Pin,solder EJH23M44 FCI P/N: 10090769-P444ALF Controller I/O, 44 Pin, crimp TE P/N: 1658672-1...
Page 154: (Non-Ul) Smb/Smc9G16 2-Axis Package: L-Bracket Or Short Fin Modules
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS AIR FLOW (Non-UL) SMB/SMC9G16 2-Axis Package: L-Bracket or Short Fin Modules SHUNT LED AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 COM_REG INT_REG EXT_REG AXIS 1 AXIS 2 NOTES: 1.
Page 155: (Ul) Smb/Smc9G16 2-Axis Package: L-Bracket Or Short Fin Modules
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS AIR FLOW (UL) SMB/SMC9G16 2-Axis Package: L-Bracket or Short Fin Modules SHUNT LED AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 COM_REG INT_REG EXT_REG AXIS 1 AXIS 2 NOTES: 1.
Page 156: (Non-Ul) Smb/Smc9G16 2-Axis Package: Long Fin Fin Modules
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS AIR FLOW AIR FLOW (Non-UL) SMB/SMC9G16 2-Axis Package: Long Fin Fin Modules SHUNT LED AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 COM_REG INT_REG EXT_REG AXIS 1 AXIS 2 NOTES: 1.
Page 157: (Ul) Smb/Smc9G16 2-Axis Package: Long Fin Modules
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS AIR FLOW AIR FLOW (UL) SMB/SMC9G16 2-Axis Package: Long Fin Modules SHUNT LED AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 COM_REG INT_REG EXT_REG AXIS 1 AXIS 2 NOTES: 1.
Page 158: (Non-Ul) Smb/Smc9G16 4-Axis Package: L-Bracket Or Short Fin Modules
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS AIR FLOW AIR FLOW (Non-UL) SMB/SMC9G16 4-Axis Package: L-Bracket or Short Fin Modules SHUNT LED AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 COM_REG INT_REG EXT_REG AXIS 1...
Page 159: (Ul) Smb/Smc9G16 4-Axis Package: L-Bracket Or Short Fin Modules
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS AIR FLOW AIR FLOW (UL) SMB/SMC9G16 4-Axis Package: L-Bracket or Short Fin Modules SHUNT LED AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 COM_REG INT_REG EXT_REG AXIS 1...
Page 160: (Non-Ul) Smb/Smc9G16 5-Axis Package: L-Bracket Or Short Fin Modules
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS (Non-UL) SMB/SMC9G16 5-Axis Package: L-Bracket or Short Fin Modules AIR FLOW AIR FLOW AIR FLOW SHUNT LED AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 COM_REG INT_REG EXT_REG...
Page 161: (Ul) Smb/Smc9G16 5-Axis Package: L-Bracket Or Short Fin Modules
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS (UL) SMB/SMC9G16 5-Axis Package: L-Bracket or Short Fin Modules AIR FLOW AIR FLOW AIR FLOW SHUNT LED AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 COM_REG INT_REG EXT_REG...
Page 162: Factory Repair, Maintenance And Warranty
Return the unit by the best means possible. The method of freight chosen will directly affect the timeliness of its return. Glentek may offer a 24-48 hour expedited repair service in the unlikely event that your system is down and you do not have a replacement.
Page 163: 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. Nor shall we have...
Page 164: European Union Emc Directives
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS 6.9 European Union EMC Directives Electromagnetic Compatibility Guidelines For Machine Design This section provides background information about Electromagnetic Interference (EMI) and machine design guidelines for Electromagnetic Compatibility (EMC). Perhaps no other subject related to the installation of industrial electronic equipment is so misunderstood as electrical noise.
Page 165: Filtering
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS In the case of servo drives, reducing the EMI source requires slowing power semiconductor switching speeds. However, this adversely affects drive performance with respect to heat dissipation and speed/torque regulation. Hardening the victim equipment may not be possible, or practical. The final and often the most realistic solution is to reduce the coupling mechanism between the source and victim.
Page 166 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS If the filter is mounted excessively far from the drive, it may be necessary to mount it to a grounded conductive surface, such as the enclosure, to establish a high frequency (HF) connection to that surface.
Page 167: Grounding
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Grounding High frequency (HF) grounding is different from safety grounding. A long wire is sufficient for a safety ground, but is completely ineffective as a HF ground due to the wire inductance. As a rule of thumb, a wire has an inductance of 8 nH/in regardless of diameter.
Page 168: Shielding And Segregation
Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Shielding and Segregation The EMI radiating from the drive enclosure drops off very quickly over distance. Mounting the drive in an enclosure, such as an industrial cabinet, further reduces the radiated emissions. The cabinet should have a high frequency ground and the size of the openings should be minimized.
Page 169 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS Cable intersections should always occur at right angles to minimize magnetic coupling. The encoder mounted on the brushless servo motor should be connected to the drive with a cable using multiple twisted wire pairs and an overall cable shield. Encoder cables are offered in various lengths that have correct terminations.
Page 170: European Union Declaration Of Incorporation Motion Control Systems
Model / Type Reference: Gamma series: SMx9G16-ab-ccc-deff, where x can be B or C, a can be 0, 1, 2, 3, or 4, b can be 0, 1, 2, 3, 4, 5, 6, 7, 8, or 9, c can be 0 or 1, d can be A, B, C, D, E, F, or Z, e can be A, B, C, D, E, or F, and f can be 0 or 1. Stand alone configurations may be followed by 1A-1, 1B-1, or 1C-1.
Page 171 Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS “Solutions for Motion Control” 208 Standard Street, El Segundo, California 90245, USA. Telephone: (310) 322-3026; Fax: (310) 322-7709 www.glentek.com e-mail: sales@glentek.com 208 Standard Street, El Segundo, California 90245, (310) 322-3026...

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Glentek Gamma Series Installation & Operation Manual

Table of Contents

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1 Overview

2 Product Description

3 Drive Interface and Wiring

4 Drive Setup

5 Motionmaestro

6 Reference Information

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