Glentek Alpha Series User manual

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
Congratulations, You Cared
Enough to Buy the Very Best!
Manual Revision Date:
13 February 2014

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone] 3Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Table of contents
TABLE OF CONTENTS
Table of Contents..................................................................................................3
Overview ...............................................................................................................7
Product Description...............................................................................................8
CURRENT (TORQUE) MODE SERVO AMPLIFIER .................................................................. 8
VELOCITY (RPM) MODE SERVO AMPLIFIER ........................................................................ 8
2-PHASE CURRENT MODE SERVO AMPLIFIER ................................................................... 8
PULSE AND DIRECTION POSITION MODE SERVO AMPLIFIER ............................................... 9
Pulse (Step) and Direction Mode .......................................................................... 9
Encoder Follower Mode ........................................................................................ 9
CANOPEN SERVO AMPLIFIER ........................................................................................... 9
Features..............................................................................................................10
Standard Operating Conditions...........................................................................12
Control Block Diagrams ......................................................................................13
POSITION MODE CONTROL DIAGRAM .............................................................................. 14
COMMAND INPUT CONTROL DIAGRAM............................................................................. 15
VELOCITY CONTROL LOOP DIAGRAM .............................................................................. 16
CURRENT CONTROL LOOP DIAGRAM .............................................................................. 17
Amplifier Setup Software.....................................................................................19
MOTIONMAESTRO INSTALLATION .................................................................................... 19
MOTIONMAESTRO AMPLIFIER SETUP FEATURES............................................................... 20
Opening of communications................................................................................ 20
Model Information................................................................................................ 22
Digital I/O setup................................................................................................... 23
Amplifier Mode setup........................................................................................... 23
Motor Safety setup .............................................................................................. 23
Motor Parameters Setup ..................................................................................... 24
Auto/Manual Current Loop Tuning Setup............................................................ 24
Commutation setup ............................................................................................. 25
Electronic Gearing Setup .................................................................................... 25
Trajectory Generator Setup................................................................................. 26
Filters Setup ........................................................................................................ 26
Analog Input/Output Setup .................................................................................. 26
Oscilloscope Setup.............................................................................................. 27
Terminal Window................................................................................................. 28
Amplifier Status ................................................................................................... 28
Control Loop Signals ........................................................................................... 28
Digital Inputs........................................................................................................ 28
Faults................................................................................................................... 29
Warnings ............................................................................................................. 29
Status .................................................................................................................. 29
Control Panel....................................................................................................... 30
Motor Tuning ....................................................................................................... 30
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) 322-30264
Alpha Series Digital PWM Amplifier Manual
Amplifier Connection Interface ........................................................................... 32
STATUS DISPLAY ........................................................................................................... 32
CONTROLLER INPUT AND OUTPUT SIGNALS .................................................................... 32
Analog Input, Command Signal........................................................................... 33
Pulse and Direction Position Mode Servo Amplifier............................................ 33
Analog Outputs ................................................................................................... 35
Discrete Inputs .................................................................................................... 35
Limits................................................................................................................... 36
Amplifier Hardware Inhibit ................................................................................... 36
Amplifier Reset.................................................................................................... 36
Amplifier Fault Output.......................................................................................... 36
Encoder Output ................................................................................................... 36
External Encoder Power...................................................................................... 36
POWER INPUT AND OUTPUT SIGNALS ............................................................................. 37
Bus Power........................................................................................................... 37
Motor Power........................................................................................................ 37
PC INTERFACE .............................................................................................................. 37
CANOPEN INTERFACE.................................................................................................... 39
OPTIONAL RELAY OUTPUT ............................................................................................. 40
MOTOR FEEDBACK......................................................................................................... 41
Motor Feedback Power, Amplifier Supplied ........................................................ 41
Encoder Channels A, B and Z............................................................................. 41
Hall Channels 1, 2 and 3..................................................................................... 41
Tachometer ......................................................................................................... 41
External Event Fault............................................................................................ 41
RESET........................................................................................................................... 41
Connecting The Amplifier To The Motor............................................................. 42
EXTERNAL WIRING OF THE AMPLIFIER............................................................................ 42
Serial Port ........................................................................................................... 42
Encoder and Hall................................................................................................. 42
APPLYING POWER.......................................................................................................... 43
Amplifier Tuning ................................................................................................ 43
PARAMETER SETUP ...................................................................................................... 43
CURRENT (TORQUE) MODE TUNING ............................................................................... 46
SMART-COMM TUNING .................................................................................................. 47
CURRENT (TORQUE) MODE RUNNING AND SETTING ....................................................... 48
Motor Running.................................................................................................... 48
Analog Input Setup............................................................................................. 48
VELOCITY (RPM) MODE TUNING ................................................................................... 49
GVS (Gain Velocity Scale) Setting...................................................................... 49
Velocity Loop PID Setting.................................................................................... 50
PULSE FOLLOWER POSITION MODE TUNING ................................................................... 53
Setup Pulse/Direction Follower ........................................................................... 54
Setup Encoder Follower...................................................................................... 55
2-PHASE CURRENT (TORQUE) MODE TUNING ................................................................. 56
TACHOMETER FEEDBACK SETUP AND TUNING................................................................. 57
Motor Running.................................................................................................... 58

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone] 5Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Table of contents
Appendices .........................................................................................................59
A SERVO DRIVE CONNECTIONS ................................................................................... 59
B AMPLIFIER STATUS CODES....................................................................................... 66
C SMB/SMC94XX
AND SMB/SMC95XX RATINGS AND SPECIFICATIONS..................... 68
Power, Input and Output ..................................................................................... 69
Signal Inputs........................................................................................................ 69
Digital Inputs........................................................................................................ 69
Outputs................................................................................................................ 69
System ................................................................................................................ 69
Notes ................................................................................................................... 69
D MATCHING MOTOR PHASE LEADS TO AMPLIFIER COMMANDS USING HALL SENSORS.70
Auto Phasing Procedure ..................................................................................... 70
Manual Phasing Procedure ................................................................................. 72
E DETERMINING ENCODER RESOLUTION AND NUMBER OF POLES................................. 76
F COMMUTATION TRACK SIGNALS AND PHASE-TO-PHASE BEMF. ................................ 77
G REPLACEMENT FOR OMEGA SERIES AMPLIFIERS....................................................... 78
H EUROPEAN UNION EMC DIRECTIVES........................................................................ 80
Electromagnetic Compatibility Guidelines For Machine Design.......................... 80
European Union Declaration of Incorporation Motion Control Systems .............. 86
I AMPLIFIER TERMS AND TECHNOLOGY ....................................................................... 87
Terms .................................................................................................................. 87
Technology.......................................................................................................... 90
J AMPLIFIER MODEL NUMBERING ................................................................................ 91
The difference between SMB94XX and SMC94XX ............................................ 91
SMx9508 Amplifier Model Numbering................................................................. 92
SMx9515 Amplifier Model Numbering................................................................. 94
SMx9408 Amplifier Model Numbering................................................................. 97
SMx9410 Amplifier Model Numbering................................................................. 99
SMx9415 Amplifier Model Numbering............................................................... 101
SMx9420 Amplifier Model Numbering............................................................... 104
SMx9430 Amplifier Model Numbering............................................................... 106
SMx9445 Amplifier Model Numbering............................................................... 108
SMx9475 Amplifier Model Numbering............................................................... 110
K FACTORY REPAIR, MAINTENANCE AND WARRANTY ................................................. 112
FACTORY REPAIR................................................................................................ 112
MAINTENANCE .................................................................................................... 112
WARRANTY......................................................................................................... 113
L DRAWINGS ............................................................................................................ 114
SMB / SMC9508 Amplifier Module Standard Power.................................. 116
GP8600-90 Power Supply ................................................................. 117
SMB / SMC9508 2 Axis base plate chassis installation............................. 118
SMB / SMC9508 4 Axis base plate chassis installation............................. 119
SMB / SMC9515 Amplifier Module Standard / Low Power ........................ 120
SMB / SMC9515 Amplifier Module High Power......................................... 121
SMB / SMC9515 2 Axis base plate chassis installation (STD/LO PWR) ... 122
SMB / SMC9515 2 Axis base plate chassis installation (HI PWR) ............ 123
SMB / SMC9515 4 Axis base plate chassis installation (STD/LO PWR) ... 124
SMB / SMC9515 4 Axis base plate chassis installation (HI PWR) ............ 125
SMB / SMC9415 Amplifier Module Standard / Low Power, Molex ............ 126
SMB / SMC9415 Amplifier Module Standard / Low Power, Mini-D............ 127
SMB / SMC9415 Amplifier Module High Power, Molex ............................. 128
SMB / SMC9415 Amplifier Module High Power, Mini-D ............................ 129
SMB / SMC9415 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) 322-30266
Alpha Series Digital PWM Amplifier Manual
SMB / SMC9415 4 Axis base plate chassis installation (STD/LO PWR)... 132
SMB / SMC9415 4 Axis base plate chassis installation (HI PWR) ............ 133
GP8600-75 Power Supply................................................................. 134
SMB / SMC9408-1A Amplifier w/ built in DC P.S., Molex (Stand Alone) ........ 136
SMB / SMC9408-1A Amplifier w/ built in DC P.S., Mini-D (Stand Alone)........ 137
SMB / SMC9410-1F Amplifier w/ built in DC P.S., Molex (Stand Alone) ........ 138
SMB / SMC9410-1F Amplifier w/ built in DC P.S., Mini-D (Stand Alone)........ 139
SMB / SMC9415-1D Amplifier w/ built in DC P.S., Molex (Stand Alone) ........ 140
SMB / SMC9415-1D Amplifier w/ built in DC P.S., Mini-D (Stand Alone)........ 141
SMB / SMC9415-1E Amplifier w/ built in DC P.S., Molex (Stand Alone) ........ 142
SMB / SMC9415-1E Amplifier w/ built in DC P.S., Mini-D (Stand Alone)........ 143
SMB / SMC9415-1A Amplifier w/ built in DC P.S., Molex (Stand Alone) ........ 144
SMB / SMC9415-1A Amplifier w/ built in DC P.S., Mini-D (Stand Alone)........ 145
SMB / SMC9420-1A Amplifier w/ built in DC P.S., Molex (Stand Alone) ........ 146
SMB / SMC9420-1A Amplifier w/ built in DC P.S., Mini-D (Stand Alone)........ 147
SMB / SMC9430-1B Amplifier w/ built in DC P.S., Molex (Stand Alone) ........ 148
SMB / SMC9430-1B Amplifier w/ built in DC P.S., Mini-D (Stand Alone)........ 149
SMB / SMC9445-1B Amplifier w/ built in DC P.S., Molex (Stand Alone) ........ 150
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. [phone] 7Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Overview
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.
The “Product Description” and “Features” sections provide the application engineers data for system
integration of the Alpha Series digital amplifiers.
Next, MotionMaestro©software is introduced. Enough material is given here to familiarize the
application engineer with the software tools necessary to setup, install and run a motor using the Al-
pha Series digital amplifiers. For additional information refer to the MotionMaestroSoftware Guide at
www.Glentek.com.
The application engineer is then guided through a step by step procedure for setup and tuning a digital
servo system.
As always, Glentek application engineers are available to help you in your specific application goals. If
you have any questions at all, we strongly encourage you to contact us and we will help in any way we
can.
Again, thank you and we look forward to providing you a product that will make your system perform at
its very best level.

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-30268
Alpha Series Digital PWM Amplifier Manual
Product Description
Glentek’s Alpha Series Digital PWM Brush and Brushless Servo Amplifiers offer the latest in high per-
formance DSP control of both rotary and linear brush and brushless servo motors. With extensive utili-
zation of surface mount technology and special heat transfer techniques, the 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.
The Full Feature servo amplifier operates in current (torque) mode or velocity (RPM) mode, accepts a
+/-10V analog input as a command reference and commutates the motor sinusoidally for ultra smooth
operation at low speeds. The amplifier utilizes an incremental encoder to derive the velocity signal and
to commutate the motor. The absolute commutation angle is usually determined using Hall sensors or
encoder commutation tracks. However, in some cost sensitive applications where slight motor move-
ment is acceptable upon power up, the amplifier can perform a power-on phase finding algorithm which
eliminates the need for Hall sensors or Commutation tracks. The amplifier can also accept a feedback
signal from a tachometer to close the velocity loop. All modes of operation can also be supported util-
izing synchro resolver feedback instead of an encoder. It is best to consult Glentek’s sales application
group. Also, we can customize a serial port digital interface to adapt to your controller as required to
meet your protocols such as Ethernet, CAN, RS485, etc.
Current (Torque) Mode Servo Amplifier
The current mode servo amplifier accepts a +/-10V analog input as a current command (direct torque
command). For this mode of operation, the amplifier provides high current loop bandwidth for high ac-
celeration and high speed applications. Glentek’s high bandwidth current mode amplifiers are utilized
in high performance linear motor digital positioning systems.
Velocity (RPM) Mode Servo Amplifier
The velocity mode servo amplifier accepts a +/-10V analog input as a velocity command. For this
mode of operation, it is always best to use a high line count rotary encoder, typically 5000 or 8192 lines
per revolution as this will give the smoothest response at low speeds. High line count and commuta-
tion tracks are always recommended. Glentek’s high gain / high bandwidth velocity mode amplifiers
are preferred and utilized in many very high performance digital positioning systems.
2-Phase Current Mode Servo Amplifier
The 2-Phase Current Mode servo amplifier accepts two +/-10V analog inputs as current command ref-
erences for two of the motor phases. The third phase is derived from the two reference phases. This
model amplifier does not need any feedback devices and is used with controllers that provide the com-
mutation.

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone] 9Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Product Description
Pulse and Direction Position Mode Servo Amplifier
The Pulse Follower servo amplifier incorporates all the features of the Full Feature servo amplifier and
also accepts two digital pulse inputs as a position command input. The pulse inputs at the amplifier
are terminated by differential line receivers which can be configured to two modes of pulse and direc-
tion position mode servo amplifiers. The motor position and speed are a function of the number of
pulses and the rate of the pulses respectively. They are described as follows:
Pulse (step) and Direction mode
The first input is a pulse train used to establish the absolute distance and velocity of the com-
mand and the second input is a direction signal used to establish the direction of rotation of the
command. Many stepper motor controllers provide this pulse type and allows upgrading a step-
per motor system to a servo motor system without the need to change controllers.
Encoder Follower mode
Two pulse inputs in quadrature, such as the output of an incremental encoder or an encoder pot
determine both command distance and direction. This pulse decoding is useful to slave one mo-
tor to another by connecting the master motor’s encoder output to the slave motor’s pulse inputs.
CANopen Servo Amplifier
The CANopen servo amplifier incorporates all the features of the Full Feature servo amplifier and also
accepts a high speed serial digital command input. The digital command can be a current command if
the amplifier is operating in Current Mode, a velocity command if the amplifier is operating in Velocity
Mode, a two phase current command if the amplifier is operating in Two Phase Current Mode, and a
position command if the amplifier is operating in Pulse and Direction Position Mode. The CAN protocol
is in compliance with 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) 322-302610
Alpha Series Digital PWM Amplifier Manual
Features
 CE compliant: All servo amplifiers are CE marked.
 FOC: All Alpha Series employ Field Oriented Control method which al-
lows accurate control in both steady state or transient operation.
 Digital current loops: Current loop bandwidths up to 3 kHz.
 Digitally tuned: All parameters set digitally. No potentiometers to adjust. DSP
control for the ultimate in high performance.
 Silent operation: 25 kHz PWM standard.
 Wide operating voltage: 24-370 VDC for Amplifier modules. All stand-alone and multi axis
versions can be ordered for operation from either 110-130 VAC or
208-240 VAC (single or 3-phase, 50/60 Hz).
Note: Non-standard voltages can be ordered on request.
 Direct AC operation: The stand-alone units and multi-axis chassis include DC BUS
power supplies, cooling fans and a regen clamp with dumping re-
sistor
Note: SMX9415-1D-1 Stand Alone does not have a regen clamp.
 External logic supply:
(SMC94XX, SMC9515) 24 - 48VDC, 600mA min @ 24VDC.
(SMC9508) 5VDC @ 1A min.
Powers all amplifier logic and encoder.
 RS-232 or RS-485: High speed (115.2K baud) serial communication interface for
(RS-485 is optional) setup and tuning.
 CANopen: High speed (up to 1 Mb/s) serial communication interface for
communications between nodes in real-time control applications.
 Encoder output divider: The encoder input signal can be divided by a user selectable
(Optional) integer 1-8 for the encoder output signal.
Note: Non-standard frequency divisor can be ordered on request.
 Encoder feedback: Accepts nominal encoder signals up to 5 MHz (maximum fre-
quency of up to 10 MHz is possible, but is system dependent).
 Tachometer feedback: Accepts analog signals from all types of tachometer feedback.
 Parametric filtering: Provides control engineers advanced filtering to eliminate un-
wanted system mechanical resonance.
 Sinusoidal commutation: For the ultimate in efficiency and smooth motion, Commutates
from almost any resolution linear or rotary encoder.
 Smart-Comm Initialization: Eliminates the need for Hall sensor or commutation tracks for
many applications.
 Auto Phase Finding: Plug and Play for all types of three phase brushless motors.
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. [phone] 11Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Features
 Auto Phase Advance: Glentek’s advanced algorithms incorporated in the Alpha Series
drives, automatically provide phase advance, insuring that the
current is delivered at the appropriate time, and provides the most
efficient operation.
 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.
 Software configurable: Glentek’s Windows™ based MotionMaestro©software provides
ease of set-up, monitoring and tuning with no previous program-
ming experience required. This software is Windows™
95/98/2000/XP, NT, Vista, and 7 compatible.
 Non-volatile memory: All parameters are stored in non-volatile memory
for reliable start up. In addition, up to two different configurations
can be stored in the amplifier’s non-volatile memory.
 Dedicated inputs: +/- position limits, inhibit, fault , motor over temp, reset signal,
+/- 10V analog input, Pulse & Direction, and 2-phase current com-
mand.
 Dedicated outputs: Up to two selectable analog monitor signals, fault and encoder
output.
 Relay outputs: These two pins provide an interface for the relay. They turn on .
(Optional) when desired condition occurred.
 Complete isolation: Complete optical isolation between signal and power stage.
Note: SMX9508 is non-isolated. Therefore, an isolated power
supply is recommended for optimal performance.
 Fault protection: Short from output to output, short from output to ground, amplifier
RMS over current, amplifier under/over voltage, amplifier over
temperature, motor over temperature.
 Status indicator: 7-segment display indicates amplifier status and diagnostics.
Note: For SMX9508, the status indicator is made up of a Red and
a Green LEDs.
 Three basic models: Covering all servo needs, the Alpha Series includes a full feature
current/velocity amplifier, a 2-phase input current amplifier, and a
pulse following amplifier for all Brush and Brushless motors.
 On-the-fly mode switching: This feature allows the amplifier to switch between any mode of
operations on-the-fly. That is, the amplifier can switch between
current to velocity (or velocity to current), current to position (or
position to current), and velocity to position (or position to veloc
ity) while the motor is in motion. This feature is available upon
request. Please contact Glentek application engineers for assis-
tance.
 SMT construction: Provides ultra compact size, cost competitive package and high
reliability.

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-302612
Alpha Series Digital PWM Amplifier Manual
Standard Operating Conditions
Temperature
Min. = 0º C
Max. = 60º C
Humidity Range
5-95% Non-condensing
Altitude
This amplifier is rated for up to 1000m, above which performance may deteriorate.
Shock
Do not expose the amplifier to sudden shock (dropping, shaking, etc…)
Vibration
Do not install the amplifier in an area prone to constant vibration.
Electromagnetic Interference
Do not install the amplifier near sources of EMI
Atmospheric Pollutants
Do not install the amplifier in an environment where the atmosphere contains pollutants
such as dust, corrosives, etc...
Water
Keep the amplifier away from all water hazards, including pipes that may accumulate
condensation and areas that can become excessively humid.
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. [phone] 13Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Control Block Diagrams
Control
Block
Diagrams

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-302614
Alpha Series Digital PWM Amplifier Manual

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone] 15Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Command Input Control Diagram

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-302616
Alpha Series Digital PWM Amplifier Manual
Gain
Velocity
Command
Integer
Settable
(GVC)
Gain Velocity
Scale in Counts
per Interrupt
Power of 2
settable
2
0
=1
2
8
=256
(GVS)
Mode 2
Velocity
Command
(SVC)
View MM
Low Pass
Feedback filter
+
-
+ +
Velocity Control Loop Diagram Alpha Series
Velocity
Error
MM Set
+
+
MM Set
MM Set
Raw Velocity
Estimate

Proportional
Gain
MM Set
32768
)GVP(
Integral Gain
MM Set
32768
)GVI(
 
Tach Gain
MM Set
32768
)GVF(
Derivative Gain
MM Set
256
)GVD(
Scaled Velocity
MM View
)SVS(
±32767
Mode 2
Velocity Loop
Error Command
to Current Loop
(SVC)
Velocity
From Current
Control Loop
Diagram
Measured Motor
Velocity with Lead
and Gain

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone] 17Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Current Control Loop Diagram

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-302618
Alpha Series Digital PWM Amplifier Manual
This Page is
Intentionally
Left Blank

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone] 19Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Amplifier Setup Software
MotionMaestrois Glentek's Windows based application software that was designed to communicate
with the Alpha series digital amplifiers. MotionMaestrohas many dialogs with values shown in engi-
neering units to make it easy to select and setup the features of the amplifier. MotionMaestroutilizes
the standard binary command set and protocols. Although it is not necessary to use MotionMaestro,
installation, setup and tuning is made easier through its use. For more information please refer to the
MotionMaestroSoftware Guide at www.Glentek.com.
MotionMaestrohas many features that allow application engineers to easily configure a digital amp to
an application. It has a terminal mode that operates at 115k baud transmission rates, an oscilloscope
that can be used to monitor amplifier signals and a tuning dialog that can be used to control the motor
input. By using the oscilloscope and tuning dialog, one can monitor step response to determine filter
parameters for optimal control loop performance.
Glentek developed a Communication Module CM998-1 to provide Ethernet communication between
the Host computer that is running MotionMaestroand the amplifier. The Host computer communi-
cates with the CM998-1 by Ethernet, and the CM998-1 communicates with the amplifier by RS-232 or
RS485 (you must have the proper serial cable wired as described in the Amplifier Connection Interface
section of this manual). The CM998-1 is plug-and-play, and there is no special setup required. Please
contact one of Glentek’s sale engineers for further details.
MotionMaestroInstallation
MotionMaestrorequires Windows95, Windows 98 SE, Windows ME, Windows NT 4.0, Windows
2000, Windows XP, Windows Vista or Windows 7 operating system running on a PC with at least one
serial port. It is suggested that you have no less than 3 megabytes of application program disk space
remaining on the hard drive prior to installation. The MotionMaestroinstall disk is setup to utilize In-
stall Shield to simplify installation. There are only a few setup options offered. In general you can
press NEXT or YES until installation is complete. When installation is completed, you will find a Mo-
tionMaestroshortcut on the windows Start\Programs menu.
DO NOT RUN MOTIONMAESTROUNTIL YOU HAVE READ ALL OF THIS SECTION.
The MotionMaestroinstallation program is named 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
have multiple versions of MotionMaestroinstalled, if you wish, and they will be placed into their own
directories.
Software

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-302620
Alpha Series Digital PWM Amplifier Manual
MotionMaestro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” section is intended as a tutorial for motor setup. You may need
to refer to this section when setting up a motor. The following features are reviewed here.
1. Opening of communications.
2. Model Information.
3. Digital I/O setup.
4. Mode setup.
5. Motor Parameters.
6. Motor Safety.
7. Commutation Setup.
8. Gearing/Encoders Setup.
9. Trajectory Generator.
10. Filters.
11. Analog I/O setup.
12. Oscilloscope.
13. Terminal Window.
14. Amplifier Status.
15. Control Panel.
16. Motor Tuning.
17. Saving parameters.
18. Backing up a copy of amplifier parameters.
Opening of communications
Before MotionMaestrocan be used, communications must be established between the amplifier and
the PC that MotionMaestrois running on. Before opening communications in MotionMaestro you
must decide what communication method between the Host computer and amplifier is used (RS-232
only, Ethernet to RS-232 or Ethernet to RS-485 using Communication Module CM998-1) and have a
serial communications cable wired as described in the Amplifier Connection Interface section of this
manual.
When MotionMaestrois directed to establish communications with the amplifier, the amplifier is que-
ried for a model ID and Firmware version. MotionMaestrowill configure itself and select the appropri-
ate configuration files based on the amplifier returned values.
There are extensive help screens under the Help menu. Select Help Topics and you can read about
the usage of MotionMaestroand it’s features.
Open communications by selecting the “Open” option on MotionMaestro’smain menu tool bar.
Open - To make connection with an amplifier