Glentek Gamma Series User manual

INSTALLATION & OPERATION MANUAL
Gamma Series
Digital - High Bandwidth
PWM Brush and Brushless Servo Drives
SMB/SMC 9G16
Congratulations, You Cared
Enough to Buy the Very Best!
Manual Revision Date:
27 January 2021

Revision History
Page
Rev
Description
ECO
Date
Changes
APPD
A
Initial Release
4295
5NOV20
D.C.R.
L.P.
118
A1
Corrected status display codes table
4295
27JAN21
D.C.R.
L.P.

Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS
208 Standard Street, El Segundo, California 90245, [phone] 3
TABLE OF CONTENTS
TABLE OF CONTENTS .................................................................................................................................... 3
TABLES............................................................................................................................................................. 6
FIGURES ........................................................................................................................................................... 7
1. OVERVIEW....................................................................................................................................................8
2. PRODUCT DESCRIPTION............................................................................................................................9
2.1 FEATURES................................................................................................................................................11
Performance....................................................................................................................................11
Regulatory.......................................................................................................................................13
Connectivity.....................................................................................................................................13
Feedback ........................................................................................................................................13
I/O....................................................................................................................................................13
Input ................................................................................................................................................13
Build ................................................................................................................................................14
2.2 ENVIRONMENTAL CONDITIONS...................................................................................................................15
2.3 SMX9G16 RATINGS,SPECIFICATIONS AND NUMBERING.............................................................................16
2.4 PACKAGE CONFIGURATIONS AND DIMENSIONS...........................................................................................19
2.5 SMX9G16 STAND ALONE MODEL NUMBERING ..........................................................................................21
2.6 SMX9G16 MODULE MODEL NUMBERING...................................................................................................22
2.7 SMX9G16 MULTI-AXIS MODEL NUMBERING ..............................................................................................23
3. DRIVE INTERFACE AND WIRING .............................................................................................................24
3.1 CONTROLLER I/O......................................................................................................................................24
Programmable Digital Inputs...........................................................................................................26
Programmable Digital Outputs........................................................................................................31
Analog Inputs ..................................................................................................................................34
Analog Outputs ...............................................................................................................................36
Encoder Outputs .............................................................................................................................38
Programmable Digital Input Functions............................................................................................39
Programmable Digital Output Functions.........................................................................................40
3.2 BRAKE/STO CONNECTOR.........................................................................................................................42
Logic Power Inputs..........................................................................................................................43
Brake Output...................................................................................................................................44
STO Inputs......................................................................................................................................45
3.3 COMMUNICATION INTERFACE.....................................................................................................................46
Servo Drive Serial Communications Connector .............................................................................46
RS-232............................................................................................................................................47
CANopen Interface..........................................................................................................................48
3.4 MOTOR FEEDBACK CONNECTOR AND WIRING............................................................................................50
Tachometer.....................................................................................................................................53
Resolver..........................................................................................................................................54
Sin/Cos Encoder .............................................................................................................................55
3.5 SERVO DRIVE MOTOR AND POWER CONNECTORS .....................................................................................56
4. DRIVE SETUP .............................................................................................................................................61
4.1 USING MOTIONMAESTRO TO SETUP A BRUSHLESS MOTOR ........................................................................61
4.2 CURRENT (TORQUE)MODE.......................................................................................................................64
Signal Gain......................................................................................................................................64
Tach. Reverse.................................................................................................................................64
Signal Offset....................................................................................................................................65
Dead Band ......................................................................................................................................66
Current Mode Brake Operation.......................................................................................................67
4.3 VELOCITY (RPM) MODE TUNING...............................................................................................................68
GVS (Gain Velocity Scale) Setting..................................................................................................68
Velocity Loop PID Setting ...............................................................................................................68
Velocity Mode Brake Operation ......................................................................................................70

Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS
4 Glentek: Solutions for Motion Control
4.4 POSITION MODE .......................................................................................................................................73
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 TWO PHASE CURRENT MODE TUNING........................................................................................................80
Preliminary Setup............................................................................................................................80
Setup Motor.....................................................................................................................................80
Configure Command Signal Inputs .................................................................................................81
Drive Running..................................................................................................................................81
4.6 TACHOMETER FEEDBACK DEDICATED DRIVE..............................................................................................82
4.7 FINE TUNING (MANUAL TUNING)................................................................................................................83
5. MOTIONMAESTRO© ..................................................................................................................................84
5.1 IMPORTANT INFORMATION BEFORE STARTING............................................................................................84
5.2 INSTALLING MOTIONMAESTRO...................................................................................................................84
5.3 CONVENTIONS USED IN THIS MANUAL.........................................................................................................85
5.4 MOTIONMAESTRO OVERVIEW....................................................................................................................86
Main Menu and Toolbar ..................................................................................................................86
5.5 COMMUNICATIONS ....................................................................................................................................89
5.6 MOTOR PARAMETERS ...............................................................................................................................91
5.7 MOTOR SAFETY........................................................................................................................................92
5.8 COMMUTATION .........................................................................................................................................94
5.9 COMMUTATION CONFIG TAB......................................................................................................................96
Initialization Method (Visible for all motor and feedback types)......................................................96
Selection of a Commutation Initialization Method...........................................................................97
Brushless Configuration..................................................................................................................97
Phase Lead .....................................................................................................................................97
Correction Method...........................................................................................................................98
Smart Commutation ........................................................................................................................98
Simulated Hall .................................................................................................................................99
Auto-Phase......................................................................................................................................99
5.10 DRIVE MODE ........................................................................................................................................100
5.11 FEEDBACK CONFIG TAB ........................................................................................................................101
Encoder Data ..............................................................................................................................101
Sin/Cos Interpolation...................................................................................................................101
Analog Motor Feedback Calibration............................................................................................102
Tachometer Data.........................................................................................................................102
5.12 SETUP DIGITAL INPUTS .........................................................................................................................103
5.13 SETUP DIGITAL OUTPUTS......................................................................................................................104
5.14 FILTERS ...............................................................................................................................................106
5.15 PROFILE GENERATOR...........................................................................................................................108
5.16 OSCILLOSCOPE.....................................................................................................................................112
Adding Scope Channels..............................................................................................................113
Oscilloscope Channels Settings..................................................................................................114
Channel List ................................................................................................................................115
Channel Source Section..............................................................................................................116
6. REFERENCE INFORMATION...................................................................................................................117
6.1 ON BOARD STATUS DISPLAY...................................................................................................................118
6.2 MATCHING BRUSHLESS MOTOR PHASE LEADS TO MOTOR FEEDBACK.......................................................119
Verify Motor Phasing and Alignment.............................................................................................120
Adjusting Alignment.......................................................................................................................123
Manual Phasing Procedure...........................................................................................................124
Auto Phasing Procedure ...............................................................................................................128
6.3 DETERMINING ENCODER SPECS AND NUMBER OF MOTOR POLES ............................................................131
Encoder Resolution.......................................................................................................................131
Encoder Reverse...........................................................................................................................131
Encoder Outputs ...........................................................................................................................131
Number of Poles (Note: Requires Hall sensors)...........................................................................132

Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS
208 Standard Street, El Segundo, California 90245, [phone] 5
6.4 REPLACEMENT FOR ALPHA SERIES DRIVES..............................................................................................133
6.5 DRIVE TERMS AND TECHNOLOGY ............................................................................................................134
Terms............................................................................................................................................134
Technology....................................................................................................................................136
6.6 CONTROL BLOCK DIAGRAMS...................................................................................................................138
Position Mode Control Diagram ....................................................................................................139
Command Input Control Diagram .................................................................................................140
Velocity Control Loop Diagram .....................................................................................................141
Current Control Loop Diagram......................................................................................................142
6.7 DIMENSIONS...........................................................................................................................................143
(Non-UL) SMB/SMC9G16-1A/1B Standalone Short Fin...............................................................144
(UL) SMB/SMC9G16-1A/1B Standalone Short Fin ......................................................................145
(Non-UL) SMB/SMC9G16 Standalone Long Fin..........................................................................146
(UL) SMB/SMC9G16 Standalone Long Fin..................................................................................147
(Non-UL) SMB/SMC9G16-1 Module L-Bracket............................................................................148
(UL) SMB/SMC9G16-1 Module L-Bracket....................................................................................149
(Non-UL) SMB/SMC9G16-1 Module Short Fin............................................................................150
(UL) SMB/SMC9G16-1 Module Short Fin.....................................................................................151
(Non-UL) SMB/SMC9G16-1 Module Long Fin .............................................................................152
(UL) SMB/SMC9G16-1 Module Long Fin ...................................................................................153
(Non-UL) SMB/SMC9G16 2-Axis Package: L-Bracket or Short Fin Modules ............................154
(UL) SMB/SMC9G16 2-Axis Package: L-Bracket or Short Fin Modules...................................155
(Non-UL) SMB/SMC9G16 2-Axis Package: Long Fin Fin Modules............................................156
(UL) SMB/SMC9G16 2-Axis Package: Long Fin Modules..........................................................157
(Non-UL) SMB/SMC9G16 4-Axis Package: L-Bracket or Short Fin Modules ...........................158
(UL) SMB/SMC9G16 4-Axis Package: L-Bracket or Short Fin Modules...................................159
(Non-UL) SMB/SMC9G16 5-Axis Package: L-Bracket or Short Fin Modules ...........................160
(UL) SMB/SMC9G16 5-Axis Package: L-Bracket or Short Fin Modules...................................161
6.8 FACTORY REPAIR,MAINTENANCE AND WARRANTY...................................................................................162
Factory Repair...............................................................................................................................162
Maintenance..................................................................................................................................162
Warranty........................................................................................................................................163
6.9 EUROPEAN UNION EMC DIRECTIVES.......................................................................................................164
Electromagnetic Compatibility Guidelines For Machine Design ...................................................164
Filtering..........................................................................................................................................165
AC Line Filter Selection.................................................................................................................165
Grounding .....................................................................................................................................167
Shielding and Segregation............................................................................................................168
European Union Declaration of Incorporation Motion Control Systems .......................................170

Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS
6 Glentek: Solutions for Motion Control
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 –Multi-Axis Dimensions.................................................................................................20
Table 3-1 –Controller I/O Configuration ........................................................................................25
Table 3-2 –Optically Isolated Input Specs.....................................................................................26
Table 3-3 –Schmitt Trigger Input Specs........................................................................................27
Table 3-4 –Differential Digital Input Specs....................................................................................28
Table 3-5 –MOSFET Output Specs..............................................................................................31
Table 3-6 –Optically Isolated Output Specs..................................................................................32
Table 3-7 –Relay Output Specs....................................................................................................33
Table 3-8 –Analog Input Specs.....................................................................................................34
Table 3-9 –Analog Output Specs..................................................................................................36
Table 3-10 –Analog Output Function List......................................................................................37
Table 3-11 –Programmable Digital Input Functions ......................................................................39
Table 3-12 –Programmable Digital Output Functions (Faults).......................................................40
Table 3-13 –Programmable Digital Output Functions (Status) ......................................................41
Table 3-14 –Brake/STO Connector Pin Function..........................................................................43
Table 3-15 –Logic Power Specs...................................................................................................43
Table 3-3-16 –Brake Output Specs...............................................................................................44
Table 3-17 –STO Inputs ...............................................................................................................45
Table 3-18 –RJ45 Mating Connector............................................................................................46
Table 3-19 –RJ45 (RS-232 Communication Designations)...........................................................46
Table 3-20 –Serial Speed over Distance.......................................................................................48
Table 3-21 –RJ45 (CANopen) Communication Designations........................................................48
Table 3-22 –Motor Feedback Designations: TTL Encoder/Hall Communication............................50
Table 3-23 –Motor Feedback Specs.............................................................................................51
Table 3-24 –Digital Hall Sensor Specs .........................................................................................51
Table 3-25 –Tachometer Sensor Specs........................................................................................53
Table 3-26 –Motor Feedback Designations: Resolver...................................................................54
Table 3-27 –Motor Feedback Designations: Sin/Cos & Absolute Encoder...................................55
Table 3-28 –UL and Non-UL Stand Alone Motor Output Designations –3 Pin..............................56
Table 3-29 –UL and Non-UL Stand Alone AC Power Input Designation –4 Pin ...........................57
Table 3-30 –UL and Non-UL Module DC Power Input and Motor Output Designation –5 Pin ......59
Table 5-1 –MotionMaestro Menu Options.....................................................................................87
Table 5-2 –Motor Parameter Field Information..............................................................................91
Table 5-3 –Motor Safety...............................................................................................................93
Table 5-4 –Commutation Initialization Methods ............................................................................96
Table 5-5 –Filter Parameters......................................................................................................107
Table 5-6 Control Type/Mode......................................................................................................109
Table 5-7 –Actions......................................................................................................................109
Table 5-8 –Action Triggers..........................................................................................................110
Table 5-9 –Truth Table for Profile Address Selector (PAS) Pins.................................................111
Table 6-1 –Status Display Codes................................................................................................118

Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS
208 Standard Street, El Segundo, California 90245, [phone] 7
Figures
Figure 3-1 44-Pin I/O connector....................................................................................................24
Figure 3-2 Optically Isolated Programmable Digital Input..............................................................26
Figure 3-3 Schmitt Trigger Digital Input.........................................................................................27
Figure 3-4 Differential Digital Input................................................................................................28
Figure 3-5 Differential Digital Input Single Ended..........................................................................29
Figure 3-6 Motor Over Temperature Input.....................................................................................30
Figure 3-7 MOSFET output...........................................................................................................31
Figure 3-8 Optically Isolated Programmable Digital Output...........................................................32
Figure 3-9 Relay Output................................................................................................................33
Figure 3-10 Differential Analog Input.............................................................................................34
Figure 3-11 Single Ended Analog Input.........................................................................................35
Figure 3-12 Analog Outputs..........................................................................................................36
Figure 3-13 Encoder Outputs........................................................................................................38
Figure 3-14 Logic Power/Brake Connector (Standard)..................................................................42
Figure 3-15 Logic Power/Brake/STO Connector (Optional)...........................................................42
Figure 3-16 Brake/Stop Sequence Internal Circuit ........................................................................44
Figure 3-17 STO Input Circuit .......................................................................................................45
Figure 3-18 RJ45 Mating Connector .............................................................................................46
Figure 3-19 RS-232 Chip Information............................................................................................47
Figure 3-20 RJ45 Double Mating Connector.................................................................................49
Figure 3-21 CANopen Connection Diagram..................................................................................49
Figure 3-22 Motor Feedback Connector........................................................................................50
Figure 3-23 Digital Hall Circuit (Differential) ..................................................................................51
Figure 3-24 Digital Hall Circuit (Single Ended) ..............................................................................52
Figure 3-25 Tachometer Circuit.....................................................................................................53
Figure 3-26 Resolver Circuit..........................................................................................................54
Figure 3-27 Sin/Cos Encoder Circuit.............................................................................................55
Figure 3-28 UL Stand Alone Motor Output Connector...................................................................56
Figure 3-29 Non-UL Stand Alone Motor Output Connector ...........................................................56
Figure 3-30 UL and Non-UL Stand Alone Motor Output Brushless................................................57
Figure 3-31 UL and Non-UL Stand Alone Motor Output Brush Type.............................................57
Figure 3-32 UL Stand Alone AC Power Input Connector...............................................................58
Figure 3-33 Non-UL Stand Alone AC Power Input Connector.......................................................58
Figure 3-34 UL and Non-UL Stand Alone AC Power Input............................................................59
Figure 3-35 UL Module DC Power Input and Motor Output Connector..........................................59
Figure 3-36 Non-UL Module DC Power Input and Motor Output Connector..................................60
Figure 3-37 UL and Non-UL Module DC Power Input and Motor Output.......................................60
Figure 4-1 Oscilloscope Waveforms..............................................................................................69
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 ........................................................................................167

Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS
8 Glentek: Solutions for Motion Control
1. 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.
The Product Description and Features sections provide you with the necessary information for system
integration of Gamma Series Drives.
You are then guided through a step by step procedure for the setup and tuning of a digital servo
system.
Next, Glentek’s MotionMaestro software is introduced. Enough material is given here to familiarize you
with the software tools to setup, install, and run a motor using a Gamma Series Drives. For additional
information, refer to the MotionMaestro Software Guide at www.glentek.com. As always, Glentek
application engineers are available to help you with your specific application goals. If you have any
questions at all, please contact us and we will help in any way we can.
Again, thank you and we look forward to providing you with a product that will make your system
perform at its very best.

Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS
208 Standard Street, El Segundo, California 90245, [phone] 9
2. Product Description
The Gamma Series is Glentek’s latest offering of higher performance multi-core DSP control of
brushless (standard servo and high-speed spindle), brush type, rotary, linear, voice coil, and AC
induction motors. This drive offers expanded command and control modes including CANopen and
indexing/point-to-point. Gamma Series Drives also accept feedback from a wider range of devices and
protocols, namely absolute serial encoders (BiSS, EnDat and SSI) and analog Sin/Cos encoders.
Additional programmable I/O includes 5 optically isolated inputs, 6 Schmitt triggers, 2 differential inputs,
3 MOSFETS outputs, 2 optically isolated programmable outputs, and a general-purpose relay. AC
powered (stand alone and multi-axis) and DC powered (module) packages are available. These drives
incorporate Field Oriented Control (FOC) and Space Vector Modulation (SVM) algorithms, which
provide optimum control that enable motors to run cooler and at higher velocities. 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.
The following table is a list of general specifications.

Gamma Series Digital PWM Drive Manual VIEW TABLE OF CONTENTS
10 Glentek: Solutions for Motion Control
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 & RS-485
PWM for current (torque) or velocity (RPM) in 50% duty cycle format (one-wire) or
100% duty cycle format (two-wire)
Indexer/Point-to-Point
Camming/Gearing
CANopen
Ethernet
Feedback
Incremental quadrature encoder
Digital Hall sensors or commutation tracks from encoder
Absolute serial encoder (Biss, EnDat and SSI)
Analog Sin/Cos encoder
Resolver
Analog tachometer
I/O
Dedicated Digital I/O
Inputs: 2 STO optically isolated
Outputs: STO optically isolated indicator,
brake (max 2 A @ 24 VDC)
Programmable Digital I/O
Inputs: 5 optically isolated, 6 Schmitt trigger,
2 differential
Outputs: 3 MOSFETS (max 1.5 A, 24 VDC),
2 optically isolated (max 10 mA, 24 VDC),
relay (max 2 A, 30 VDC)
Analog I/O
Inputs: 2 differential (16-bit A/D)
Outputs: 2 Single Ended, Programmable (12-bit A/D)
Safety Disable
Safe Torque Off (STO) in accordance with IEC61800-5-2