Download
Share
Print this page
  1. Manuals
  2. Brands
  3. Glentek Manuals
  4. Amplifier
  5. Omega SMC9930
  6. Installation & operation manual

Glentek Omega SMC9930 Installation & Operation Manual

Omega series with synqnet interface digital pwm brush/brushless servo amplifiers
Hide thumbs

Advertisement

Quick Links

Download this manual
Preliminary
INSTALLATION
&
OPERATION MANUAL
Omega Series
Model SMC9930
Model SMC9975
®
with
Interface
Digital PWM Brush/Brushless Servo Amplifiers

Advertisement

loading

Related Manuals for Glentek Omega SMC9930

Summary of Contents for Glentek Omega SMC9930

  • Page 1 Preliminary INSTALLATION & OPERATION MANUAL Omega Series Model SMC9930 Model SMC9975 ® with Interface Digital PWM Brush/Brushless Servo Amplifiers...
  • Page 2 SynqNet® network. Synchronizes to SynqNet® network update to minimize Glentek’s Omega-SynqNet® Digital PWM Servo Amplifiers offer the latest in DSP control of rotary and update jitter and skew for improved motion control. linear, brush and brushless, servo motors combined with the power and flexibility of the SynqNet® Net- work.
  • Page 3 • Provides ultra compact size, cost competitive package SMT construction and high reliability. • All servo amplifiers are CE marked. CE compliant Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 4 Omega Series Digital PWM Amplifier Manual Amplifier Setup Software Motion Maestro© Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 5 Setup.exe. It is found on disk1 of the distribution © floppies or 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 ©...
  • Page 6 If you cannot open communications please check your cable, PC COM port settings and power to the amplifier. Open Communications dialog box Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 7 Bus under-voltage and over-voltage settings, are useful informational tools and are required if the user per- forms his own scaling of amplifier values. Model Info Box. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 8 Note: It is highly recommended to check “Wkg Amp Disable” boxes, and have the SynqNet® controller control all the digital inputs. Amplifier Mode Setup The default mode for SynqNet® amplifiers is current mode. Dialog box for setting amplifier mode. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 9 Amp” button. Pressing F1 displays the dialogs help text. After the values are sent to the amp, you may test the values by enabling the amplifier. Dialog box for setting up motor safety parameters. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 10 After the values are sent to the amplifier you may test the values by enabling 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 11 When record is activated a red light will be dis- played near the button. Oscilloscope Display Screen Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 12 Display this dialog by selecting “Status\Inputs\Digital…” or via a button on MotionMaestro’s toolbar. Status disply digital inputs Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 13 You may set positioning offsets or an exact position by de- pressing the “Set Position” button. The Option button will al- low you to set the maximum and minimum current, velocity, and position. The Control Panel display Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 14 Windows style “Save File” dialog. Here you can give the file a meaningful name and location to save the file to. Restore backed up files to an amplifier with the “Restore Backup” selection. Backing Up Amplifier Parameters to a File on a Disk. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 15 These functions include saving and recalling parameters from non-volatile mem- ory. The output is filtered to minimize the switching noise from the PWM amplifier. The analog output is updated once per PWM cycle. Analog Out source select Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 16 Omega Series Digital PWM Amplifier Manual SynqNet® Setup Guide Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 17 Abort button on the Actions tab of the MS Sum- mary window. You will then need to clear the faults before enabling the amplifier. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 18 DAC offset may need to be increased to make the motor move. Change the DAC offset to –0.1V and verify that the motor spins at approximately the same speed in the opposite direction. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 19 Click the Move Pos 2 button and verity that the motor moves to Position 2. Check the Repeat Mode checkbox, click the Move Pos 1 button and verify that the motor cycles be- tween Position 1 and Position 2. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 20 Bit 9: Amp Fault Output Bit 10: Amp Temp fault. Bus ADC Full Scale Value Conversion Factor for Bus OV/UV settings, (units: DC Volts) 32767=Bus Full Scale Value 170- Spare Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 21 Linear: pole-pitch units of 0.01 mm Encoder line count (rotary) Rotary: Lines/rev, not edges/rev Encoder edge resolution (linear) Linear: A to B edge resolution units of 0.01um Spare Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 22 0: Do Not Invert 7-15 Spare Set parameter #21 for bit definitions. User Digital Input Enable Mask 1: Enable digital input 0: Disable (ignore) digital input 23-24 Spare Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 23 RW Encoder Hall-Latch to Encoder RW: Power applied to High-Z timeout Valid time Units = PWM cycles (typical 24KHz PWM freq) Std Encoder, Halls:Fault Timeout Standard Halls: Units = 100uS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 24 U15 0 to 32767 = 0 to 1.0 92-94 Spare Velocity Functions (Velocity conversions to Engineering Units: TBD If in Velocity mode, the velocity command is limited to this Velocity Command Limit value. 96-104 Spare Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 25 I16 Bit shift used to scale coefficients to within +/- 1.0 range. Coefficients should be scaled by 2^-scale before storing. Spare Variable Frequency Drive (Future product) Volts/Hz trajectory Gain Start Voltage 132- Spare Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 26: Parameter Save

    Prompts the drive to restore its parameters to the factory defaults. Example: C:\MEI\XMP\BIN\WINNT>sqDriveParam -restore (or Direct command 0x1D per page 34) Note: This command can only be issued when Drive is disabled. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 27 2. “0x200”: hex decimal number for 512 (dec.) 3. “-write 4”: change encoder resolution setting 4. “0x400”: hex decimal number for 1024 (dec.) 5. “-store”: store new parameter Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 28: Direct Commands

    A local serial EEPROM attached to the Drive Processor is typical but the exact implementation of this will vary. Note that this Parameter EEPROM is distinct from the Identification EEPROM. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 29 =max(abs(Ir), abs(Is), abs(It)) measured velocity reserved reserved motor shaft position (bits 15..0) motor shaft position (bits 32..16) Demand A loopback Demand B loopback Interpolator/DBN Status Interpolator Sine Interpolator Cosine Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 30 Bus Over volt Amp Over temp Primary encoder fault Motor Over Speed Motor Over Temp Invalid Hall State NVRAM Checksum Fault CPLD Fault Phase-Finding (or Commutation Initialization) failed 9,8,7,3,0 Reserved Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 31 3. Bit 5 (100001100000): Invalid Hall State (per page 36) 4. Bit 6 (100001100000): Motor Over Temp (per page 36) 5. Bit 11 (100001100000): Primary Encoder Fault (per page 36) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 32 Omega Series Digital PWM Amplifier Manual Reading Amp Fault Data by Using “sqDriveMsg” Command Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 33 Warning Bit Message Motor Over Speed Balancing current loops Current Foldback Active Phase-Finding required Bus Under-Voltage 1,3-9,12-14 Reserved Note: Balancing is normally carried out once at the factory. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 34 3. Locate firmware file using “Browse” button. 4. Highlight selected firmware file and press “Download” button. 5. Both “Node FPGA” and “Drive Processor 0 Firmware” files will be downloaded. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 35 SynqNet® Setup SynqNet® with Sine Interpolator and DBN SMC99XX-10X-001-000* * See page 79 for model numbering Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 36 3. Set “Position1”, “Position2”, “Velocity”, “Accel”, and “Decel” as show on “Axis-Summary” 4. Start with very low filter coefficients due to the high encoder resolution. The filter coefficients show in the “Filter Summary” window are for a Glentek’s GMB3515 motor with a 512 line encoder and *4096 interpola- tion.
  • Page 37 Halls and then verify the proper phasing of the interpolated position by driving the motor in open loop mode before switching to closed loop operation. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 38 See SineGain description for more details. DBN_PulseWidth 0 to 65535 Setup/Cal Pulse output width of DBN output, 1 count = 1/75 usec DBN_Interval signed32 Setup/Cal Position interval/step size between DBN output pulses. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 39 Frame data pointer for use reading/writing the frame data to the drive processor. The index auto incre- ments after each frame data read/write and wraps back to 0 if the increment exceeds 255. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 40 DBN execution will repeat beginning at frame 0. If this bit is cleared, the DBN_Done bit will be set will set in the Interpolator/DBN_Status register and the DBN will stay disabled until DBN_Enable mode is exited and re-entered. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 41 Only updated when Interpolator/DBN_Mode = Setup/Cal 222 (Monitor table index 20) Cos_Cal Calibrated Encoder Cosine signal = Cos_ADC * CosineGain + CosineOffset Only updated when Interpolator/DBN_Mode = Setup/Cal Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 42 If the motion is reversed before the stop position is reached and the absolute becomes > the start position, the trigger position is reloaded with the start position. Once the stop position has been exceeded, the next frame start position is loaded. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 43 20-Pin Male Mating Connector Description/Type Connector Backshell Mini D Ribbon, 24-30 AWG, 3M 10120-3000VE 3M 10320-52F0-008 Solder Cup, Plastic Glentek P/N: EJC10120 Glentek P/N: EJC10320 Backshell, Squeeze Latch Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 44 High speed differential line receiver inputs: Use industry standard 26LV32 or equivalent RS433 AUX_ENC_B+ Auxiliary encoder line receiver. input signals AUX_ENC_B- All signals directly connected to SynqNet® node controller. AUX_ENC_I+ AUX_ENC_I- Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 45 Pin Number Desctiption 232 TX Common — 232 RX Connector 8-Pin Male Mating Connector Description/Type T & B P/N: 622-0641 Mini DIN Glentek P/N: EJ242F06 3 4 5 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 46: Earth Ground

    24 to 48VDC, 600mA max. @ 24VDC Powers all amplifier logic and encoder Connector 2-Pin Female Mating Connector Description/Type Phoenix P/N: GMVSTBW 2,5/2-ST-5,08 Right angle Glentek P/N: EJ741V02 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 47 Motor Phase T A - 7. SMC9975 Power I/O Connector Pin# Name Description AC 1 AC 2 AC 3 Motor Phase R Motor Phase S Motor Phase T Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 48 No Halls: Phase finding routine failed Drive processor is in reset Decimal Point Only 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 49 Sine Encoder Interpolation Sine / Cosine Input Max frequency: 500KHz/channel Gain and offset can be adjusted by software Sampling Rate 500KHz (2µsec.) Interpolation Selectable, up to 4096 (12 bit) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 50 Hall sensors. Motor thermal switch input referenced to common, amplifier can be configured to Motor Temp fault on normally open or normally closed switch (active high/low) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 51 You may perform a reset with SynqNet® controller by using Mo- con. Commutation alignment can not begin until all faults are cleared. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 52 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...
  • Page 53 ALSO: This method of matching motor leads to the amplifier requires that the motor’s Hall sen- sors transitions are aligned with the motor phase Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 54 Set the current command back to 0 by clicking on the STOP button of the Control Panel. Save the settings by selecting “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...
  • Page 55 Take the number of full LED cycles and multiply by two. This is the Num- ber 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 56 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 57 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 58: Ac Line Filter Selection

    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...
  • Page 59 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 60 For example: • 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...
  • Page 61 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 62 120-250VAC use: Corcom 25FCD10 or equivalent. 25A-36A input current, 120-250VAC use: Corcom 36FCD10 or equivalent. 36A-50A input current, 120-250VAC use: Corcom 50FCD10 or equivalent. 50A-80A input current, 120-250VAC use: Corcom 80FCD10 or equivalent. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 63 Hall, does not require motion. The Hall method does require the addition of Hall sensors or commutation tracks. Commutation tracks are simulated Hall sensors built into the shaft encoder. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 64 For example, a 4-pole motor (two North poles and two South poles) will rotate 180 me- chanical degrees as the currents applied are varied through 360 electrical degrees. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 65 If too small a value is used, the motor will not be optimally com- mutated, and this will result in rough motion and larger than normal current required to move the motor. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 66 Omega Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 67 SMC9975 In order to accurately select a complete part number, please follow the steps shown below: 1. Select the amplifier type which meets your power requirements (i.e. SMC9930 or SMC9975) and proceed to that section of model numbering. 2. Select the feedback type which meets your requirements (I.e. Standard TTL encoder or 1Vpp Sine/Cosine encoder).
  • Page 68 Board Option SMC9930/SMC9975 Stand Alone Amplifier with TTL Encoder Feedback Numbering Key SMC9930 - XXX - YYY - 1B - 1 or SMC9975 - XXX - YYY - 1B - 1 Model number key: Designates an Omega Series SynqNet® Amplifier.
  • Page 69 SMC9930/SMC9975 Stand Alone Amplifier With Sine Interpolator Numbering Key SMC9930 - XXX - YYY - ZZZ - 1B - 1 or SMC9975 - XXX - YYY - ZZZ - 1B - 1 Model number key: Designates an Omega Series SynqNet® Amplifier.

  • Page 70: Factory Repair

    Factory Repair & Warranty Factory Repair Should it become necessary to return a servo drive to Glentek for repair, please follow the proce- dure described below: Reassemble the unit, if necessary, making certain that all the hardware is in place.

  • Page 71: Warranty

    Under no circumstances shall Glentek, Inc. or any of our affiliates have any liabil- ity whatsoever for claims or damages arising out of the loss of use of any product or part sold to you.
  • Page 72 Omega Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 73 Appendix K Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 74 Omega Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 75 Appendix K Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 76 Omega Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 77 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 78 Omega Series Digital PWM Amplifier Manual Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 79 Permanent Magnet DC Brushless Servo Motors Continuous Torques to 1100 in. lb. • Peak Torques to 2200 in. lb. • MANUAL#: 9930-3040-000 REVISION: (A) DATE: 04 DEC 2006 208 Standard Street, El Segundo, California 90245, USA. Telephone: (310) 322-3026; Fax: (310) 322-7709 www.glentek.com e-mail sales@glentek.com...

This manual is also suitable for:

Omega smc9975