Glentek Alpha Series User manual

INSTALLATION & OPERATION MANUAL
Alpha Series
Digital High Bandwidth
High Speed Spindle Amplifiers
Model SMB/SMC 9420 Model SMB/SMC 9430
SMB Designates BUS Powered Logic
SMC Designates Separate Keep Alive Logic Power
Congratulations, You Cared
Enough to Buy the Very Best!
Manual Revision Date:
31 Jan 2012

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
Overview...............................................................................................................6
Product Description...............................................................................................7
C URRENT ( TORQUE ) M ODE S ERVO A MPLIFIER ................................................................ 7
V ELOCITY ( RPM ) M ODE S ERVO A MPLIFIER ...................................................................... 7
CAN OPEN S ERVO A MPLIFIER ......................................................................................... 7
Features................................................................................................................8
Standard Operating Conditions...........................................................................10
Control Block Diagrams ......................................................................................11
C OMMAND I NPUT C ONTROL D IAGRAM ............................................................................12
V ELOCITY C ONTROL L OOP D IAGRAM .............................................................................13
C URRENT C ONTROL L OOP D IAGRAM .............................................................................14
Amplifier Setup Software ....................................................................................15
M OTION M AESTRO I NSTALLATION ...................................................................................15
M OTION M AESTRO AMPLIFIER SETUP FEATURES ..............................................................16
Opening of communications...............................................................................16
Model Information ..............................................................................................18
Digital I/O setup .................................................................................................19
Amplifier Mode setup .........................................................................................19
Motor Safety setup.............................................................................................19
Motor Parameters Setup ....................................................................................20
Auto/Manual Current Loop Tuning Setup ...........................................................20
Commutation setup............................................................................................21
Electronic Gearing Setup ...................................................................................21
Trajectory Generator Setup................................................................................22
Filters Setup.......................................................................................................22
Analog Input/Output Setup.................................................................................22
Oscilloscope Setup ............................................................................................23
Terminal Window ...............................................................................................24
Amplifier Status..................................................................................................24
Control Loop Signals..........................................................................................24
Digital Inputs ......................................................................................................24
Faults.................................................................................................................25
Warnings............................................................................................................25
Status.................................................................................................................25
Control Panel .....................................................................................................26
Motor Tuning......................................................................................................26
Saving parameters to non-volatile memory ........................................................27
Creating a back up copy of amplifier parameters on disk ...................................27
Amplifier Connection Interface ............................................................................28
S TATUS D ISPLAY ..........................................................................................................28
C ONTROLLER I NPUT AND O UTPUT S IGNALS ....................................................................28
Analog Input, Command Signal..........................................................................29
Analog Outputs ..................................................................................................29
Discrete Inputs ...................................................................................................30
Amplifier Hardware Inhibit ..................................................................................30
Amplifier Go/Stop...............................................................................................30

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-30264
Alpha Series Digital PWM Spindle Manual
Amplifier Connection Interface Continued ..............................................................
Amplifier E-Stop ................................................................................................ 30
Amplifier Reset.................................................................................................. 30
Amplifier Relay Out ........................................................................................... 30
Amplifier Fault Output........................................................................................ 31
P OWER I NPUT AND O UTPUT S IGNALS ............................................................................ 31
Input Power....................................................................................................... 31
Motor Power...................................................................................................... 31
PC I NTERFACE ............................................................................................................ 32
CAN OPEN I NTERFACE ................................................................................................. 33
M OTOR F EEDBACK ...................................................................................................... 35
Encoder Power, Amplifier Supplied ................................................................... 35
Encoder Channels A, B and Z ........................................................................... 35
Hall Channels 1, 2 and 3 ................................................................................... 35
External Event Fault .......................................................................................... 35
R ESET ........................................................................................................................ 35
Connecting The Amplifier To The Motor. ............................................................ 36
E XTERNAL W IRING OF T HE A MPLIFIER . ......................................................................... 36
Serial Port ......................................................................................................... 36
Encoder and Hall............................................................................................... 36
A PPLYING P OWER ....................................................................................................... 37
Amplifier Tuning................................................................................................. 37
P ARAMETER S ETUP .................................................................................................... 37
C URRENT (T ORQUE ) M ODE T UNING ............................................................................. 40
V ELOCITY (RPM) M ODE S ETUP ................................................................................... 42
A NALOG I NPUT S ETUP ................................................................................................ 43
Signal Gain Setting............................................................................................ 43
Signal Offset (Balance) Setting.......................................................................... 43
V ELOCITY (RPM) M ODE T UNING ................................................................................. 44
GVS (Gain Velocity Scale) Setting .................................................................... 44
PID (Proportional, Integral, and Derivative) Setting and Tuning......................... 45
Appendices......................................................................................................... 47
A S PINDLE A MPLIFIER C ONNECTIONS ......................................................................... 48
B A MPLIFIER S TATUS C ODES ..................................................................................... 54
C SMB/SMC94XX R ATINGS AND S PECIFICATIONS ..................................................... 55
Power, Input and Output.................................................................................... 55
Signal Inputs ..................................................................................................... 55
Digital Inputs ..................................................................................................... 55
Outputs ............................................................................................................. 55
System .............................................................................................................. 55
Notes................................................................................................................. 55
D M OTOR P HASING P ROCEDURES .............................................................................. 57
Auto Phasing Procedure.................................................................................... 57
Manual Phasing Procedure ............................................................................... 60
Smart-Comm Phasing Procedure...................................................................... 64
E D ETERMINING E NCODER R ESOLUTION AND N UMBER OF P OLES ................................ 65
F C OMMUTATION T RACK S IGNALS AND P HASE - TO -P HASE BEMF................................. 66
G E UROPEAN U NION EMC D IRECTIVES ...................................................................... 67
Electromagnetic Compatibility Guidelines For Machine Design ......................... 67
European Union Declaration of Incorporation Motion Control Systems.............. 73

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
H A MPLIFIER T ERMS AND T ECHNOLOGY ......................................................................74
Terms.................................................................................................................74
Technology ........................................................................................................77
I A MPLIFIER M ODEL N UMBERING ...............................................................................78
The difference between SMB and SMC .............................................................78
SMX9420 Amplifier Model Numbering................................................................79
SMX9430 Amplifier Model Numbering................................................................80
J F ACTORY R EPAIR , M AINTENANCE AND W ARRANTY ..................................................81
F ACTORY REPAIR ................................................................................................81
M AINTENANCE .....................................................................................................81
W ARRANTY .........................................................................................................82
K D RAWINGS .............................................................................................................83
SMB9420-1A-1 Amplifier, BUS Logic, Molex ............................................84
SMC9420-1A-1 Amplifier, External 24VDC Logic, Molex ..........................85
SMB9420-1A-1 Amplifier, BUS Logic, Mini-D ...........................................86
SMC9420-1A-1 Amplifier, External 24VDC Logic, Mini-D .........................87
SMB9430-1B-1 Amplifier, BUS Logic, Molex ............................................88
SMC9430-1B-1 Amplifier, External 24VDC Logic, Molex ..........................89
SMB9430-1B-1 Amplifier, BUS Logic, Mini-D ...........................................90
SMC9430-1B-1 Amplifier, External 24VDC Logic, Mini-D .........................91
SMB9430 SPINDLE AMP UNDERGOING TESTING

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-30266
Alpha Series Digital PWM Spindle Manual
Overview
Glentek’s new High Speed Spindle Drives provide ultimate performance for your application. Ad-
vanced space vector algorithms and commutation techniques developed at Glentek provide sine wave
output from square wave Hall sensor input. This eliminates higher order harmonics resulting in lower
motor operating temperature and longer life.
By utilizing Field Oriented Control algorithms our drive can achieve speeds up to 100,000 RPM.
Typical applications include: Lens Grinding, Semiconductor Silicon Slicing, High Speed Die Grinding,
High Speed Routers, Semiconductor Wafer Processing, High Speed Nut Driving (automotive) and
many more.
Glentek’s High Speed Spindle Drives can work with any feedback device, including Sentron’s sine
wave Hall Sensors.
Brand-label opportunities are available. Please contact Jason Mark at 310-322-3026 ext 173
([email protected]) with any questions.
Examples of motors in successful applications using Glentek spindle amplifiers:
This manual guides the application engineer through the steps necessary for installation of the Alpha
series digital spindle amplifiers. All features of the Alpha series digital spindle 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 Alpha
series digital spindle 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 setting up and tuning a
digital spindle system.
Again, thank you and we look forward to providing you a product that will make your system perform at
its very best level.
MANUFACTURER MODEL #/ or PART #
Loadpoint Bearings Ltd. D03698
Loadpoint Bearings Ltd. 5716/1 LH
Loadpoint Bearings Ltd. D03604
Loadpoint Bearings Ltd. D03209
Westwind 50-06160-00
Westwind 50-0617-0

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]
Product Description
Glentek’s Alpha Series Digital PWM High Speed Spindle Amplifiers offer the latest in high performance
DSP control of both high speed spindle motors. With extensive utilization 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 Full Feature 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 opera-
tion at low speeds. The amplifier utilizes an incremental encoder (or Hall signals) 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 movement is acceptable upon power up, the amplifier can perform a power-on phase finding al-
gorithm which eliminates the need for Hall sensors or Commutation tracks. All modes of operation can
also be supported utilizing 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 spindle amplifier accepts a +/-10V analog input as a current command. For this
mode of operation, the amplifier provides high current loop bandwidth for high acceleration and high
speed spindle applications.
Velocity (RPM) Mode Servo Amplifier
The velocity mode spindle amplifier accepts a +/-10V analog input as a velocity command. For this
mode of operation, a digital velocity value is continuously calculated from the Hall or encoder input sig-
nals. Glentek’s high gain / high bandwidth velocity mode spindle amplifiers are preferred and utilized in
many very high performance spindle systems.
CANopen Servo Amplifier
The CANopen spindle amplifier incorporates all the features of the Full Feature spindle amplifier and
also accepts high speed serial digital command input. The digital command can be current command
if the amplifier is operating in Current Mode or velocity command if the amplifier is operating in Velocity
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.
Production Description

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-30268
Alpha Series Digital PWM Spindle 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: All models can be ordered for operation from either 110-130 VAC
or 208-240 VAC (3-phase, 50/60 Hz)
Note: Non-standard voltages can be ordered on request.
• Stand alone operation: All models include internal DC power supply, cooling fans and a
regen clamp with dumping resistor. (Exception: SMC versions,
see next feature).
• External logic supply: SMC versions require an external 24 - 48VDC, (600 mA min)
power supply for amplifier logic, encoder or Hall sensors. This en-
ables “keep alive” ability.
• 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 feedback: Accepts nominal encoder signals 5 MHz (maximum frequency
of up to 10 MHz is possible, but is system dependent).
• 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 type of three phase brushless motors.
Provides control engineers 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 most
optimized smoothness and efficient commutation.
• 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, provide 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.

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]
Features
• 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: Go/Stop, E-Stop, inhibit, fault , motor over temp, reset signal, and
+/- 10V analog input.
• Dedicated outputs: Selectable analog monitor signal, 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.
• Fault protection: Short from output to output, short from output to ground, amplfier
RMS over current, amplifier under/over voltage, amplifier over
temperature, motor over temperature.
• Status indicator: 7-segment display indicates amplifier status and diagnostics.
• 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) 322-302610
Alpha Series Digital PWM Spindle 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.