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TB232 Rev2 Glentek Alpha Drive Setup for CNC11 Systems
This document describes how to setup a Glentek servo drive for use with a CNC11 system using a GPIO4D or OPTIC4 card Typically
the drive backup on Centroid's Dealer Support Site should be used and the wiring diagram should be followed for easy setup and quick
turnaround on replacements Also see Glentek's document explaining connecting to their drive with a PC and tuning the Torque and
Velocity Mode on the Glentek Drive here The Glentek Alpha drives is the standard drive available at this time
Connecting to the Drive
The initial setup will be done between a PC running Glentek's MotionMaestro software and the Glentek drive Click here to download
the software The MPU11 and GPIO4D or OPTIC4 are not used in this part of the process Only the cabling for the motor encoder
keep alive voltage if required by the drive and Motion Maestro software version 1 37 beta 6 and above are needed to setup the motor
Once the cabling is correct start the Glentek Software and connect the serial cable from the computer to the drive This may require a
USB to serial cable
Establish communication by clicking the Communications menu and selecting Open
Chose the serial port that the PC is connected to and hit Okay
The COM Status box on the right side of the screen should turn green An error will occur if the incorrect COM port is
selected
If a USB to Serial cable is required then the COM port being used must be determined by checking the Device Manager
Click the Start button Run and type devmgmt msc and hit Enter Click the plus sign next to Ports COM and LPT Look for
a label that has text about USB to Serial and note the COM number next to it If the number is greater than 8 double click it
and click the Port Settings tab Set the port number to a value that does not occur already on the system
Restoring a Backup
Click the Tools menu and select Restore Backup
Locate the file on disk and select Open The typical extension for the file is * bk
Once the file has been loaded click Setup Save to NVM
Close communications with the drive under the Communications Menu and power cycle the drive
This method is useful for replacement drives or new systems that are identical to previously wired systems For new
systems the drive/motor combination must be setup from scratch as described below
The analog speed command offset must still be set for each drive See the Setup Analog I/O for Velocity Mode section
Setup a new Alpha Series Drive
The general procedure for setting up a new drive is as follows Setup the Motor Parameters Motor Safety Commutation Analog and
Digital I/O and Filters then put the drive in Velocity Mode and Tune the drive Finally connect the Glentek drive to the CNC11 system
and tune the PID parameters While making changes on different setup screens in MotionMaestro make sure to Select Save to NVM
often to avoid losing changes Also be sure to backup the Drive when done configuring the system for easy swap out if the drive fails
in the future Before applying power to the motor make sure it is mounted securely in such a way that if it goes out of control it will not
cause any harm One method is to bolt the motor to the machine and leave it uncoupled Do not apply 3 phase power to the drive until
directed Only logic voltage should be wired to the drive at this time Create a backup of the drive before making any changes and save
it in a secure location
Setup Initial Motor Parameters
Click the Setup menu and select Motor Parameters
The motor resistance and inductance should be filled in based on the motor's specifications Do not guess at the values
entered here
Enter 325 for the Bus Voltage
Click the Setup Auto/Manual Current Loop Tuning button and you will be taken to another window where the drive gains
will be set automatically
Click the Auto Tuning and 3 Phase boxes as well as un checking the Manual Tuning and 1 Phase boxes
Click the Calculate Auto Tuning button and then Send Values to Amp button and finally Done
Save to NVM
Setup Motor Safety
Bring up the Setup Motor Safety screen from the Setup menu The motor specific values should be obtained from the
motor datasheet Do not guess at the values entered here
The Current Limit should be set to the peak motor current or the current limit of the drive whichever is lower The high
power drive can do up to 40 amps and the low power goes up to 30 amps
The trip current should be set at the constant stall current of the motor
The Trip Time should be set at 3 seconds
The Current Fold Back should be left at the default value
Click Send Values to Amp and then Done when the values are correctly entered
eg the 1kW SEM motor has a Constant Stall Torque of 7 6 amps and the Current Limit is set to 34 Amps
Save to NVM
Setup Commutation
Under the Setup menu click Commutation
Make sure Rotary is selected for the encoder type and enter 8 for the Number of Poles
The Lines per Revolution depends on the encoder being used Glentek offers a Mecapion encoder which has 5000 lines
per revolution which equates to the ppr This means there are 20000 counts/rev of the encoder For Centroid's Renco
encoders enter 2048 or 4096 for 8192 or 16384 counts per revolution
Under the Phase Lead section set both values to 0 0
The Correction Method section should be set to Hall Edge and the Index and Hall Signal Offsets should be set to 0 0
The Commutation Method should be set to Hall and the Commutation Waveform should be set to Sinusoidal
Click Send Values to Amp and then Done
Save to NVM
Setup Encoders
Click Setup Gearing/Encoders under the Setup menu to bring up the Encoder Divisor menu
Make sure the Output Encoder Divisor is at 1 and Send Values to Amp
Click Done and Save to NVM
Setup Analog I/O for Torque Mode
Click Setup Analog I/O under the Setup menu Temporarily the drive will be used in Torque mode to make sure the motor
turns correctly when commanded a certain direction This menu will be revisited later after Velocity Mode has been turned on
The Signal Gain should be the Current Limit in the Motor Safety menu divided by 10
The 10 comes from the one direction range of analog input voltage
The Signal Offset should be set to 0 for this section because it will be set later after Velocity Mode is turned on
The Dead Band and Analog Output Setup are not used
eg We used 34 as the Current limit earlier so 3 4 should be used as the Signal Gain
Save to NVM
Setup Digital I/O
Click Digital IO under the Setup menu
Check the Disable box for Limit Positive Limit Negative and Motor Over Heated
Make sure the Pull Up Limits Inhibit and Reset box is checked
Ensure the Fault Out Active Low is checked under Fault Pin Function
Temporarily check the Disable check box for Inhibit This will allow the drive to be enabled without the external enable
signal It should be unchecked and have NVM saved after this tuning procedure
Click done and Save to NVM
Trajectory Setup
In the Trajectory Setup menu under Setup click the Acceleration and Deceleration Disabled boxes and click Done
Save to NVM
Setup Filters
Under the Setup menu there are 4 filters that can be changed
Go into each of the first 3 and change the type to NONE click Send and then Done
Leave the FeedBack filter at the default
Save to NVM
Test the Drive in Torque Mode
Ensure the drive is disabled and apply 3 phase power to the drive now
Open the Faults Warnings and System Status screens under the Status menu and check for any faults other than Bus
Under Volt Inhibit or External Reset
Turn the shaft of the motor and make sure Hall or Encoder error do not occur
Save to NVM once more
Then bring up the Digital IO screen again and TEMPORARILY Disable the External Reset and Inhibit inputs
Select the Options button and change the Minimum and Maximum current to 5 Amps
Click Okay to save
Bring up the Control Panel under the Tools menu and click Enable Amp It may be necessary to click Fault Reset as well
Click the >> button several times to see if motion results It is usually necessary to get over an amp or two before motion
occurs The command is positive and make sure positive RPMs result in the Actual Velocity box
If the command is positive and the actual RPMs do not have the same sign click Stop and Disable Amp then click the
Tach Reverse box Repeat the above step to verify correct motion
If you get half way up the scale and still no motion occurs check the Faults Warnings and Digital Inputs menus under the
Status menu
When done testing motion click Stop and Disable Amp then Done
As long as the motor moves in both directions then proceed to Velocity Mode tuning of the drive
Setup Drive for Velocity Mode
Now that the drive is working under Torque Mode it is time to switch to Velocity Mode and tune the associated parameters
Set GVS value
Setting the GVS Gain Velocity Scale before anything else for Velocity Mode is important to achieving quick accurate
tuning
Open a Terminal window by pushing the white button with the blue greater than symbol as indicated
Type GVS 9 as seen at right then hit the Enter Key
Save to NVM and power cycle the drive
Select Mode
The drive must be switched to Velocity Mode now
Click Select Mode under the Setup menu
Check the Velocity Loop Closed check box and click Done
Save to NVM
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Motor Velocity Limit
Click the Setup menu and click Trajectory Generation The bottom text box is the max speed that the Glentek drive will
command the motor to move Set this 10% above the rated speed of the motor for safety and to avoid problems when doing
rapid moves
Click done and Save to NVM
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Setup Analog I/O for Velocity Mode
Click Setup Analog I/O under the Setup menu
For Velocity Mode use the Signal Gain should be the motor rated RPM plus 10% 15% divided by 10 Adding 10% 15%
gives some room above the max RPM of the motor to command additional position from Centroid's PID loop 10 comes from
the one direction range of analog input voltage
The Signal Offset should be set using the Scope under the Tools menu under Using The Oscilloscope later in this
document
The Dead Band and Analog Output Setup are not used
For example for a motor rated at 3000 RPM enter 3000 RPM + 450 RPM / 10 volts = 345
Click done and Save to NVM
Setup Servo Tuning
Open the Servo Tuning window under the Setup menu
Leaving these values at default will allow the motor to achieve more fine tuned performance but it is possible that the drive
will perform adequately without tuning
Follow Glentek's recommended procedure for Velocity Mode tuning in their document on page 4 here
Save to NVM and backup the Amp
Connect CNC11 to the Glentek Drive
Once the above setup is complete the MPU11 and GPIO4D or OPTIC4 should be connected to the drive and motion
tested Leave the MotionMaestro software connected with the Faults and Warnings windows open
Make sure E Stop is engaged until you are instructed to jog the motor
Ensure reasonable values are set for the encoder counts and Revs / in or mm / Rev
Starting PID values for Velocity Mode with Glentek drives are
Parameter Value
Kp 0 01500
Ki 0 00003
Limit 2560000
Kv1 68
Accel 0 30000
Go to the PID screen and turn the motor by hand
If an error occurs check in the MotionMaestro software under Status Faults and Warnings to see what could be the
problem
If the counts go up when turning CCW then try to Jog the motor under power
If the motor runs away or the counts go down when the shaft is turned CCW then the encoder channels may be wired
backwards Try swapping A and /A and B and /B and repeating the test
Direction Reversal may also need to be set to get the display to be correct though it will not fix motor runaway problems
Once the motor moves correctly push in E Stop and proceed to zero the analog input on the Glentek Drive
Zero Analog command using the Oscilloscope in MotionMaestro
Under the Tools menu click Scope to bring up the Oscilloscope function on the drive
The Scope can be used to check various things about the drive and aid in tuning
The initial use of this function is for zeroing any offset in the analog input signal
Set the Y Axis Min and Max to 1 and 1 initially
Under the Trace Attributes Select Velocity Command and Done
You should see the signal tracing across the screen somewhere
If it is not visible at all click Setup and and change the Y Axis Min and Max to 10 and 10
If the value is visible then go back and narrow the Y Axis range as much as possible
Bring up the Analog I/O screen as well
Start increasing or decreasing the Signal Offset until the value is right at zero on the Scope
Go back to Setup and decrease the band of the Y Axis so that the Analog Command can be seen to be right at 0VDC Try
+/ 2
Click Done on the Analog I/O screen
Save to NVM
The first image at right shows the Velocity Command before adjusting the offset and the second image shows after the
adjustment
Backup the Drive Parameters
Make a final backup of the amplifiers parameters by clicking Backup Amp under the Tools menu Email this file to Centroid
Support along with the system report
This can now be taken to another drive and loaded on with the Restore Amp option under Tools
Keep in mind that the Motor Safety Setup Motor Analog Signal Offset should be re done for each different drive
After any changes to a drive please make a backup and save it with a report from the system
Velocity Mode tuning in CNC11
Follow the Velocity Mode Tuning Tech Bulletin 234 for ensuring proper positional accuracy
Glentek Alpha Drive Wiring Schematic
Glentek's drawing for their drive can be found here
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GPIO4D Connection to Glentek Alpha Drive Schematic
Click here to get the full resolution version of this schematic
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Document History
Rev2 Created on 2010 06 10
by #297
Rev1 Created on 2010 02 23
by #297