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INSTALLATION
&
OPERATION MANUAL
Model SMB9675-1A-1-7700
FADAL REPLACEMENT
SPINDLE DRIVE
MANUAL#: 9675-1035-000
REVISION: (A)
DATE: 9 Sep 2015
Fadal is a trademark of Fadal Machining Centers, we have no affiliation with Fadal or Mag IAS
www.glentek.com
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MANUAL # 9675-1035-000-A
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Table of Contents
TABLE OF CONTENTS
CHAPTER ONE: GENERAL .................................................................................................................................................................. 5
1.1 OVERVIEW ........................................................................................................................................................................................... 5
1.2 INTENDED APPLICATION .......................................................................................................................................................................... 5
1.3 MODE OF OPERATION ............................................................................................................................................................................ 6
CHAPTER TWO: INSTALLING A GLENTEK SPINDLE DRIVE INTO A FADAL VMC ................................................................................... 7
2.1 REMOVING THE OLD DRIVE ....................................................................................................................................................................... 7
2.2 MECHANICAL INSTALLATION ..................................................................................................................................................................... 7
2.3 ELECTRICAL INSTALLATION ....................................................................................................................................................................... 7
CHAPTER THREE: INITIALIZATION AND POWER UP ........................................................................................................................... 9
3.1 BEFORE ANY INITIALIZATION .................................................................................................................................................................... 9
3.2 TURNING THE POWER ON ....................................................................................................................................................................... 9
3.4 OPERATING THE SPINDLE ......................................................................................................................................................................... 9
3.5 POT ADJUSTMENTS ................................................................................................................................................................................ 9
3.6 RIGID TAP TEST (OPTIONAL) ................................................................................................................................................................... 9
CHAPTER FOUR: TROUBLESHOOTING AND MAINTENANCE .............................................................................................................11
4.1 STATUS DISPLAY CODES ........................................................................................................................................................................ 11
4.2 MAINTENANCE ................................................................................................................................................................................... 11
CHAPTER FIVE: WARRANTY, FACTORY REPAIR, AND SAFETY ...........................................................................................................12
5.1 WARRANTY........................................................................................................................................................................................ 12
5.2 FACTORY REPAIR ................................................................................................................................................................................. 12
5.3 SAFETY ............................................................................................................................................................................................. 13
APPENDIX A - SPINDLE DRIVE CONNECTIONS ..................................................................................................................................14
A-1 MOTOR POWER CONNECTORS ............................................................................................................................................................... 14
A-2 CONTROLLER I/O CONNECTORS ............................................................................................................................................................. 14
A-3 ENCODER INPUT CONNECTOR ................................................................................................................................................................ 15
A-4 ENCODER OUTPUT CONNECTOR ............................................................................................................................................................. 16
A-5 HOST (SERIAL COMMUNICATION) CONNECTOR .......................................................................................................................................... 16
A-6 POWER AND SIGNAL WIRING ................................................................................................................................................................. 16
APPENDIX B - SPINDLE DRIVE CONNECTION INTERFACE ..................................................................................................................17
B-1 STATUS DISPLAY ................................................................................................................................................................................. 17
B-2 CONTROLLER INPUT AND OUTPUT SIGNALS ............................................................................................................................................... 17
B-3 ANALOG INPUT, COMMAND SIGNAL ........................................................................................................................................................ 18
B-5 ENCODER FEEDBACK ............................................................................................................................................................................ 20
B-6 ENCODER OUTPUT .............................................................................................................................................................................. 20
B-7 LOAD METER OUTPUT ......................................................................................................................................................................... 20
B-8 PC INTERFACE .................................................................................................................................................................................... 21
B-9 POWER INPUT AND MOTOR OUTPUT....................................................................................................................................................... 22
MANUAL# 9675-1035-000-A
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APPENDIX C - APPLICATION SOFTWARE ..........................................................................................................................................23
C-1 MOTIONMAESTRO© .......................................................................................................................................................................... 23
C-2 INSTALLING MOTIONMAESTRO© ........................................................................................................................................................... 23
C-3 COMMUNICATING WITH THE SPINDLE DRIVE OR VFD DRIVE ........................................................................................................................ 24
APPENDIX D - DRAWINGS & DIAGRAMS ..........................................................................................................................................25
SPINDLE DRIVE INSTALLATION DRAWING 1 ...................................................................................................................................................... 25
SPINDLE DRIVE INSTALLATION DRAWING 2 ...................................................................................................................................................... 26
SPINDLE DRIVE CONNECTION DIAGRAM PAGE 1 ............................................................................................................................................... 27
SPINDLE DRIVE CONNECTION DIAGRAM PAGE 2 ............................................................................................................................................... 28
SENSORED VECTOR COMMAND INPUT CONTROL DIAGRAM ................................................................................................................................. 29
SENSORED VECTOR VELOCITY CONTROL LOOP DIAGRAM .................................................................................................................................... 30
SENSORED VECTOR CURRENT CONTROL LOOP DIAGRAM .................................................................................................................................... 31
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MANUAL # 9675-1035-000-A
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Chapter One
Chapter One: General
1.1 Overview
The Glentek Inc. SMB9675-1A-1-7700 spindle drive uses flux vector technology to close a torque
(current) feedback loop. When applied to a three phase induction motor, the result is servo motor like
performance from a standard three phase induction motor. The Digital Signal Processor (DSP)
based spindle drive uses its high speed math processing capability to continuously calculate flux and
torque vectors and to maintain a constant 90 degree phase difference between the vectors. This
technique allows torque control from zero speed to base speed and above. Encoder feedback
provides the shaft position data needed to calculate the vectors and velocity data, thus, Vector
Control allows precise speed control down to and including zero speed of an induction motor.
The SMB9675-1A-1-7700 spindle drive can operate in sensor-less mode (no feedback is needed).
This mode of operation is usually referred to as inverter mode or VFD (Variable Frequency Drive)
mode. With advanced mathematic algorithms and latest DSP technology, the Glentek SMB9675-1A-
1-7700 is optimized to produce a steady starting torque from standstill right up to full speed with high
efficiency. The applied frequency and voltage are increased at a controlled rate and ramped up to
accelerate the load without drawing excessive current.
1.2 Intended Application
The SMB9675-1A-1-7700 is intended as a drop-in replacement spindle drive for FADAL
ENGINEERING VMC’s. See the part numbers listed in the Mode of Operations section (section 1.3)
for the available configurations.
MANUAL# 9675-1035-000-A
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Chapter One
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1.3 Mode of Operation
Changing the Mode of Operation dial (SW1) (see pg. 26) will modify the configuration of the spindle
drive. Aligning the dial to any of the positions listed below will alter the drive to those settings. If
none of the settings below match your preference please contact one of Glentek’s sales engineers
for assistance. The drive is shipped with the dial at position 0 (zero)
Mode of Operation Position Settings
Position
Power (HP)
RPM
Sensor/VFD Part Number
Model Number
0
15
10K
Sensor
7700
SMB9675-1A-1-7700
1
15
7.5K
Sensor
7701
SMB9675-1A-1-7701
2
15
10K
VFD
7702
SMB9675-1A-1-7702
3
10
10K
Sensor
7703
SMB9675-1A-1-7703
4
10
7.5K
Sensor
7704
SMB9675-1A-1-7704
5
10
10K
VFD
7705
SMB9675-1A-1-7705
6
20
10K
Sensor
7707
SMB9675-1A-1-7707
7
20
7.5K
Sensor
7708
SMB9675-1A-1-7708
8
20
10K
VFD
7709
SMB9675-1A-1-7709
9
5
10K
Sensor
7710
SMB9675-1A-1-7710
A
5
7.5K
Sensor
7711
SMB9675-1A-1-7711
B
5
10K
VFD
7712
SMB9675-1A-1-7712
C
-
-
-
-
-
D
-
-
-
-
-
E
-
-
-
-
-
F
-
-
-
-
-
Note: Positions C, D, E, and F are reserved for future configurations.
Note: Align the dial to the desired configuration before installation or disable the drive with an M5
(spindle stop) command BEFORE rotating the dial. The four place seven-segment displays will
display the operation mode selected (i.e. 7700, 7701, etc.) for seven seconds, then reverts to
displaying motor rpm. Enable the drive to run in the new mode.
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MANUAL # 9675-1035-000-A
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Chapter Two
Chapter Two: Installing a Glentek Spindle Drive into a Fadal VMC
2.1 Removing the old drive
Turn off the power to the VMC and wait 5 minutes before beginning removal. Disconnect all the wires
and cables. If any wires are not labeled take note of their location. Of the cables, only the Control
cable and the Delta/Wye cable can be confused, both are 6 terminal connectors. The control cable
has 6 sockets in the connector and Delta/Wye cable has 3 sockets in the connector. Unbolt the old
drive and remove.
2.2 Mechanical Installation
Install the new drive (slots down) by first resting the drive on the lower mounting studs in the
panel and positioning the drive over the studs at the top. Hold the drive against the panel and
loosely install four screws, top two first. Then tighten all four screws.
2.3 Electrical Installation
2.3.1 Power Terminal Block Connections
Begin the wiring by connecting the AC, regenerative braking, motor, and green ground wires.
Match the wire labels to the terminal block labels. Check connections for tightness. See Appendix A
for more details.
2.3.2 Load Meter Cable
Connect the load meter cable by connecting the black wire to P1-1 screw terminal and the red wire
to P1-2.
2.3.3 Spindle Control Cable
Connect the spindle control cable to P2. The spindle control cable has 6 sockets installed; do
not mistake the wye/delta connector with only 3 sockets.
2.3.4 Wye/Delta Cable
Connect the wye/delta cable to P4 (wye/delta is an option for 7500 RPM spindles; your VMC may not
have this cable).
2.3.5 Encoder Feedback Cable
Connect the encoder feedback from the motor (9 terminal connector) to P3 (VFD drives doe
not need this cable).
2.3.6 Rigid Tap Cable (Encoder Output To CNC Control)
For VMC’s with the Rigid Tap option, connect the rigid tap cable from the CNC to P5 of the spindle
drive. Use the installation drawing (Drawings & Diagrams) to match the wires by color to the
correct terminal.
MANUAL# 9675-1035-000-A
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Chapter Two
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Photo 1: A successful spindle drive installation.
Photo 2: Close up of a successful spindle drive installation.
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MANUAL # 9675-1035-000-A
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Chapter Three
Chapter Three: Initialization and Power Up
3.1 Before Any Initialization
The only setup required by the end user is to select the mode of operation. All the tuning has been
preset at the factory, meaning the drive will run correctly. If applying minor changes (adjusting input
command offsets, etc.) to the spindle drive, use the procedures below for reference.
3.2 Turning the Power On
Carefully recheck the wiring. Restore power to the VMC. For seven seconds the four rightmost seven-
segment displays will show the spindle drive configuration. Afterwards, those four displays will show
the rpm value of the spindle motor, not the spindle itself. Confirm the desired mode of operation has
been selected.
3.4 Operating the Spindle
From the VMC control panel operate the spindle and confirm the spindle runs at the commanded
speeds and in the correct direction (CW and CCW). It is important to note, the 4 digit display on the
drive reports the speed of the spindle motor, the speed of the spindle itself may be different
depending on the machine design and mode. The drive calculates the rpm from the encoder signals
when operating in vector mode, when the drive is used in VFD or inverter mode (no encoder) the
rpm is calculated from the input command signal voltage received from the Fadal control.
3.5 Pot Adjustments
Normally, no adjustments are needed. However, for convenience, there are two pots (see page 26)
the balance pot and the signal pot. The balance pot can be used to equalize the rpm’s in the CW and
CCW directions. The signal gain pot can be used to make small adjustments to the speed of the
spindle. The pots are not intended to correct large differences between commanded speed and
actual speed. If after initial installation the expected speeds are significantly different from the
commanded speeds double check that the mode of operation from the table is correct for the VMC.
Consult your distributor or Glentek technical support for additional help.
The pots can be restored to their starting or “zero” positions by using a voltmeter.
Attach the black lead to TP7 (see page 26) and the red lead to TP3 for balance and to TP4 for
signal gain. Adjust the voltage to 1.50VDC.
3.6 Rigid Tap Test (Optional)
If desired you can test the rigid tap mode of your VMC by performing the following procedure. This
procedure is drawn from the FADAL maintenance manual. Install the test screw (SVT-0077). The
screw can be fabricated from 1.000” round stock, by threading a 14 TPI Acme thread. Program is
for Format 1. Use test program #6000 or the following program:
MANUAL# 9675-1035-000-A
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Chapter Three
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N1 O6000 (RIGID TAP CYCLE)
N2 G80
N3 S750
N4 G91
N5 X0.1 Y0.1 G1 F10.
N6 M5
N7 G4 P2000
N8 G84.1 Z-1. R+0 F500. Q0.0714
N9 M45
N10 X-0.1 Y-0.1 G1 F10.
N11 M45
N12 M45
N13 M45
N14 M45
N15 G80
N16 G4 P2000
N17 M99 P5
N18 (!)
N19 (NOTE: O5827 CNC88 TEST WAS MOVED TO TA, 5!!!)
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3801
Once the program is loaded, jog the z axis down so the screw can be indicated.
Type “SETZ” and press ENTER. Start the test program and observe that the program is running
correctly. Depress the SINGLE STEP key. Be sure the test screw returns to its original position.
Set the indicator as shown below, the tip must be touching the lower thread halfway into the
thread, the second thread from the bottom.
Run the test and observe the indicator. The reading should not deviate from zero more than .002”
on either side of zero. If necessary, consult the FADAL maintenance manual for your machine.
Photo 3: Test screw in setup with dial
Photo 5: Test screw in toolholder
Photo 4: Test screw
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MANUAL # 9675-1035-000-A
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Chapter Four
Chapter Four: Troubleshooting and Maintenance
4.1 Status Display Codes
Display
Name
Description
Possible Cause
1
EEPROM Fault
Parameter EEPROM
Internal problem,
checksum fault
contact Glentek
8
Reset
External reset
Improper configuration
setting
8.
Reset
Drive processor is in
Internal problem,
reset
contact Glentek
A
Overspeed
Motor RPM is over
Mechanical linkage
speed limit
problem
Regenerative braking
Bus Over
DC bus exceeded
circuit not working, regen
b
resistor does not match
Voltage
450VDC
spindle, check fuse in
regen circuit
C
Clamp
Spindle drive disabled
Control is disabling the drive
(Disabled)
E
Encoder
Encoder fault detected
Encoder faulty or encoder
Fault
wiring broken
F
Foldback
Motor current draw
Mechanical binding in
exceeded set point
motor or spindle
H
Heatsink Over
Heatsink exceeded
Fan(s) failed
Temperature
65ºC
L
LS/ECB
Motor RMS over
Mechanical binding in
current
motor or spindle
0
Normal
Drive enabled
Normal when rotating
Operation
S
HS/ECB
Output short circuit
Motor windings shorting
detected
U
Bus Under
DC bus below 50VDC
AC input voltage to drive
Voltage
nominal
is low or off
Single
Normal
Drive enabled
Normal @ zero speed
segment
Operation
4.2 Maintenance
The only maintenance required is to periodically inspect the fans. The blades should be free
turning and built up dirt should be removed from the blades.
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Chapter Five
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Chapter Five: Warranty, Factory Repair, and Safety
5.1 Warranty
Any product, or part thereof, manufactured by Glentek, Inc., described in this manual, which under
normal operating conditions, in the plant of the original purchaser, thereof proves defective in material
or workmanship within one year from the date of shipment by us, as determined by an inspection by
us, will be repaired or replaced free of charge, FOB our factory, El Segundo, California, U.S.A.
provided that you promptly send to us notice of the defect and establish that the product has been
properly installed, maintained, and operated within the limits of rated and normal usage, and that no
factory sealed adjustments have been tampered with. Glentek's liability is limited to repair or
replacement of defective parts.
Any product or part manufactured by others and merely installed by us, such as an electric motor, etc., is
specifically not warranted by us and it is agreed that such product or part shall only carry the warranty, if
any, supplied by the manufacturer of that part. It is also understood that you must look directly to such
manufacturer for any defect, failure, claim or damage caused by such product or part.
Under no circumstances shall Glentek Inc. or any of our affiliates have any liability whatsoever for
claims or damages arising out of the loss of use of any product or part sold to you. Nor shall we have
any liability to yourself or anyone for any indirect or consequential damages such as injuries to
person and property caused directly or indirectly by the product or part sold to you, and you agree in
accepting our product or part to save us harmless from any and all such claim.
5.2 Factory Repair
Should it become necessary to return a spindle drive to Glentek for repair, please follow the
procedure described below:
1. Reassemble the unit, if necessary, making certain that all the hardware is in place.
2. Tag the unit with the following information:
A. Serial number and model number
B. Company name, phone number, and name of representative returning the unit
C. A brief note explaining the malfunction
D. Date the unit is being returned
3. Repackage the unit with the same care and fashion in which it was received. Label the package
with the appropriate stickers (e.g. FRAGILE: HANDLE WITH CARE).
4. Contact a Glentek representative, confirm that the unit is being returned to the factory and
obtain an RMA (Return Material Authorization) number. The RMA number must accompany the
unit upon return to Glentek.
5. Return the unit by the best means possible. The method of freight chosen will directly affect the
timeliness of its return.
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Chapter Five
5.3 Safety
• Serious or fatal injury can result from failure to work safely on this equipment.
• Only qualified personnel should install and maintain this spindle drive.
• The drive has capacitors that remain charged after the power is shutoff. Wait 5 minutes to allow
the capacitors to discharge before removing the cover or working on the drive.
• Be sure the system is properly grounded before applying power.
• Regenerative braking resistors can generate temperatures that ignite combustible materials or
vapors. Keep all combustible materials way from braking resistors.
• Braking resistors should be shielded to prevent burn injuries.
• The motor will rotate when autotuning, take precautions to prevent injury and damage to
equipment.
MANUAL# 9675-1035-000-A
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Appendix A
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Appendix A - Spindle Drive Connections
A-1 Motor Power Connectors
Table A-1.1 Motor Power Designations
Pin #
I/O
Name
Function
1
Input
L1
AC LINE 1, three phase AC input
2
Input
L2
AC LINE 2, three phase AC input
3
Input
L3
AC LINE 3, three phase AC input
4
Rsvd
N/C
Reserved
5
Rsvd
N/C
Reserved
6
Output
B-
DC BUS Return output
7
Output
R1
Brake/Regen resistor output
8
Output
R2
Brake/Regen resistor output
9
Output
B+
DC BUS + output
10
Output
T1
Motor Output Phase T1
11
Output
T2
Motor Output Phase T2
12
Output
T3
Motor Output Phase T3
Table A-1.2 Motor Power Connectors
Connector Type/Description
12-Pin Terminal Block
Terminal Block, Barrier,
Marathon 985-GP-12
12 Position, 10-4 AWG
A-2 Controller I/O Connectors
Table A-2.1 Load Meter Designations: Labeled as P1 on spindle drive
Pin #
I/O
Name
Function
1
Output
- (BLACK)
GND
2
Output
+ (RED)
Current Monitor Output
Table A-2.2 Load Meter Connector
Connector Type/Description
2-Pin Terminal Block
Terminal Block, Single Row,2 Position,
Magnum A202202NL
22-12 AWG
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Appendix A
Table A-2.3 Spindle Control Designations: Labeled as P2 on spindle drive
Pin #
I/O
Nam
e
Function
1
Input
Spindle Common (for Forward
FW /REV COM
& Reverse)
2
Input
Spindle Reverse
REVERSE
3
Input
Spindle Forward
FRWR
4
Input
CMD Common
F T/SPEED COM
(for Fault & Speed)
5
Input/
Emergency Stop/Spindle Fault
F
T
Output
6
Output SPEED CMD
Spindle Speed Command
Table A-2.4 Wye/Delta Config Designations: Labeled as P4 on spindle drive
Pin #
I/O
Nam
e
Function
1
Input
Wye or Delta modes
WYE / E T
2
N/C
Reserved
Reserved
3
Input
High Gain or Low Gain modes
HIGH / W GAIN
4
Input
Common
Common for Wye/Delta and
High Gain/Low Gain modes
5
N/C
Reserved
Reserved
6
N/C
Reserved
Reserved
Table A-2.5 Spindle Control and Wye/Delta Config Connectors
Connector
6-Pin Male Mating
Female Crimp Terminal
Type/Description
Connector Housing
Receptacle, 6 Position,
Molex 03-09-
1064
Molex 02-09-1119
22-18 AWG
A-3 Encoder Input Connector
Table A-3.1 Encoder Input Designations: Labeled as P3 on spindle drive.
Pin #
I/O
Name
Function
1
Input
Shield
Cable Shield
2
Power
+5V
Encoder +5VDC out, 150mA max
3
Power
GND
Encoder Power Return
4
Input
B -
Encoder Channel B -
5
Input
B +
Encoder Channel B +
6
Input
Z +
Encoder Index + (Channel Z +)
7
Input
A -
Encoder Channel A -
8
Input
A +
Encoder Channel A +
9
Input
Z -
Encoder Index - (Channel Z -)
Table A-3.2 Encoder Input Connector
Connector
9-Pin Male Mating
Female Crimp Terminal
Type/Description
Connector Housing
Receptacle, 9 Position, 22-18 AWG
Molex 03-06-1092
Molex 02-06-1103
MANUAL# 9675-1035-000-A
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Appendix A
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A-4 Encoder Output Connector
Table A-4.1 Encoder Output Designations: Labeled as P5 on spindle drive.
Pin #
I/O
Name
Function
1
Power
GND
Encoder Power Return
2
Output
AOut +
Encoder Channel A +
3
Output
AOut -
Encoder Channel A -
4
Output
BOut +
Encoder Channel B +
5
Output
BOut -
Encoder Channel B -
Table A-4.2 Encoder Output Connector
Connector Type/Description
5-Pin Terminal Block
Terminal Block,5 Position,
Phoenix Contact 1934890
22-12 AWG
A-5 Host (Serial Communication) Connector
Table A-5.1 Host (Serial Communication) Designations: Labeled as P6
on spindle drive.
Pin #
I/O
Name
Function
1
Reserved
Reserved
Reserved
2
Reserved
Reserved
Reserved
3
Reserved
Reserved
Reserved
4
Input/output
COMMON
Logic Ground
5
Output
RS-232 TX
RS-232 Transmit
6
Input
RS-232 RX
RS-232 Receive
7
Reserved
Reserved
Reserved
8
Reserved
Reserved
Reserved
Table A - 5.2. Host (Serial Communication) Connector
Connector Type/Description
8-Pin Male Mating Connector
Standard Commercial, RJ-45
Commercial, RJ45
A-6 Power and Signal Wiring
A-6.1 Recommend 3-phase input, 3-phase output, and chassis GND power wiring, 8 AWG
(8.36 mm2) or larger, 105°C rated PVC or better.
A-6.2 Recommend BUS+, BUS Return, and brake power wiring, 10 AWG (5.26 mm2) or
larger, 105°C rated PVC or better.
A-6.3 Recommend all signal wiring, 22 AWG (0.326 mm2) or larger, 105°C rated PVC or better.
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Appendix B
Appendix B - Spindle Drive Connection Interface
This section describes the spindle drive connections and how they are used in the typical application.
Refer to the spindle drive’s installation drawing in Drawing & Diagrams. This drawing indicates the location
of the pins described below along with the location of the connector they can be found on.
B-1 Status Display
A diagnostic 7-segment LED display is provided for determining the general operating condition of
the spindle drive.
When the drive is operating normally, one of the outer six segments is lit. Each of the six outer segments
represents one of the six commutation states in a commutation cycle of a motor. A commutation cycle
consists of two poles. In a 4-pole motor, the LED will cycle through its six outer segments 2 times for one
revolution of a rotary motor. When the motor’s current is clamped, (i.e. held to zero), or the spindle drive is
in a fault condition, one of the fault characters will be displayed as is appropriate to the fault or state.
Note: See Chapter 4 for more information on Drive status codes.
B-2 Controller Input and Output Signals
Signals that typically are connected to an external controller are described in this section. These
signals include the primary command signal interface to the spindle drive, Forward/Reverse,
Wye/Delta, Hi Gain/Lo Gain, Estop/Fault, load meter, encoder output signal, and common.
Signal
Description
SPEED CMD
Command signal analog input, reference to CMD Common.
Enable the motor in the CCW direction.
SPINDLE FRWR
Enable the motor in the CW direction.
SPINDLE REVERSE
Enable the motor either in WYE or DELTA mode.
WYE / E T
Enable the motor either in HI or LO gain mode.
HIGH /
W GAIN
/
Bi-directional, functions as Emergency Stop input or Fault output.
EST
FT
LOAD METER
Analog output, indication of the load current on the motor.
AOut
Encoder A channel Output.
BOut
Encoder B channel Output.
ZOut
Encoder Z index Output (not used).
For the actual pin out of above signals, see Appendix A - Controller I/O Connector section
MANUAL# 9675-1035-000-A
17
Appendix B
www.glentek.com
B-3 Analog Input, Command Signal
Pins SPINDLE CMD and F T/SPEED COM are the command input pins. The command input takes a differential
analog signal as referenced to the spindle drive’s ground. Input voltage is expected to range from -10 volts
to +10 volts (typical).
The velocity command signal will be 0 to +10 VDC in unipolar control (non-rigid tap mode), ±10 VDC for
bipolar control (rigid tap mode).
Note: CMD COMMON (AGND) is connected to Logic Common (Digital GND) inside the spindle drive.
TP5
10.0K
SPEED CMD
FLT/SPEED COM
10.0K
TP6 AGND
0.022uF
1.50K
9 - TLE084
8
TO DSP A/D CONVERTER
10
+
332
0.33uF
1.50K
0.022uF
AGND
Vref
Command Signal Analog Input Schematic
B-4 Controller Inputs/Outputs - Direction Control, WYE /
, HIGH/
GAIN
Inputs,
Input, and
Output
The spindle drive accepts SPINDLE
and SPINDLE
signals for operating four rotation
FRWR
REVERSE
commands.
ACTION
closed
open
drive on, CCW rotation, unipolar speed control
open
closed
drive on, CW rotation, unipolar speed control
closed
closed
drive on, bipolar speed and direction control
open
open
drive off, no voltage or flux to the motor
SPINDLE F RW R and SPINDLE REVERSE are enable and direction control signals. That is, each signal
enables motor movement in one direction. If both signals are closed (the signals are pulled low), motor
movement in both directions is enabled. When only one enable is closed (F RW R or REVERSE on), the
velocity command is unipolar, and when both enables are closed (F RW R and REVERSE on), the velocity
command is bipolar.
When both F RW R and REVERSE are closed, the spindle drive is in rigid tap mode. When only F RW R or
REVERSE is closed, the spindle drive is in non-rigid tap mode (sometimes called “inverter” mode). Both
rigid tap mode and non-rigid tap (“inverter”) mode are used with vector drives. Inverters or VF drives use
non-rigid tap mode only.
18
MANUAL # 9675-1035-000-A
www.glentek.com
Appendix B
+10V
1.00K
+5V
+5V
3
HMA124
4.99K
1
4
MMBD7000
1
1.21K
2
3
10.0K
FAULT
1
+5V
3
HMA124
4.99K
1
4
MMBD7000
9
1.21K
2
3
10.0K
FORWARD
1
+5V
3
HMA124
4.99K
1
4
MMBD7000
5
1.21K
2
3
10.0K
REVERSE
1
+5V
3
HMA124
4.99K
1
4
MMBD7000
3
1.21K
2
3
10.0K
WYE/DELTA
1
+5V
3
HMA124
4.99K
1
4
MMBD7000
1
1.21K
2
3
10.0K
HIGH/LOW GAIN
1
IRLL014
10.0K
40106
2
40106
8
40106
6
40106
4
40106
2
+5V
1.00K
+3.3V
3
1
10.0K
MMBD7000
FROM DSP
13
12
TO DSP
40106
2.00K
TO DSP
10.0K
0.33uF
AGND
TO DSP
TO DSP
TO DSP
TO DSP
Controller I/O Schematic
When F RW R and REVERSE are both open (signals are left floating) the spindle is off and spins freely.
However, the change from closed to open (F RW R and/or REVERSE on to both off) is also a signal to stop
(just like Emergency Stop); the drive is never supposed to coast to a stop.
The change from WYE to DELTA or vice versa occurs only when the drive is off (F RW R and REVERSE
open) and the motor is stopped or below 50 rpm. When the CNC wants DELTA mode, the signal WYE / E T
is pulled low.
When the CNC wants LOW GAIN, the signal HIGH / W GAIN is pulled low.
EST and F T share the same I/O pin at the spindle drive. A spindle F T is declared by the spindle drive.
Status good is 10 VDC thru a 1K pull-up resistor. 0 VDC indicates a fault condition to the CNC. The Fault
output is open collector that can sink 500 mA max. When EST is asserted (signal is pulled low), drive is to
totally ignore F RW R , REVERSE, and the velocity command, and ramp down to a stop.
MANUAL# 9675-1035-000-A
19
Appendix B
www.glentek.com
B-5 Encoder Feedback
The following pin description defines the main encoder feedback input port.
Signal
Description
----------
----------------------------------
+5V
Drive supplied 5 volt source (output)
A+ / A -
Encoder A channel input
B + / B -
Encoder B channel input
Z + / Z -
Encoder Z channel input (not used)
The spindle drive can supply 5 volts of encoder power. The source is rated at 150 mA.
The encoder input uses a DS26LV32 differential line receiver. By default, the encoder feedback is
configured for receiving differential signals (single-ended configuration is available upon request). The
spindle drive accepts nominal encoder frequency of 5 MHz (maximum frequency of up to 10 MHz is
possible, but is system dependent). The Z channel is edge sensitive such that swapping Z + and Z - does
not change the behavior of the spindle drive.
B-6 Encoder Output
The encoder out signals are differential output signals. The encoder output pins are buffered representation
of the motor encoder feedback. The encoder output uses a 26C31 differential line driver.
Encoder channels A and B are available as pins AOut +, AOut -, BOut +, BOut - on P5.
B-7 Load Meter Output
This is an indication of the load on the motor. The output ranges from -10 volts to +10 volts and
has 16-bit resolution.
2.5 VDC = 100% absolute motor current (100% of continuous current)
3.75 VDC = 150% absolute motor current (150% of continuous current)
FROM DSP (SI)
FROM DSP (SCLK)
FROM DSP (D/A_0)
DAC8532
8
GND
Vdd
7
DIN
VREF
6
SCLK
VFB
5
SYNC
Vo
AGND
1
2
3
4
0.1uF
+3Vref
+3.3VA
1uF
AGND
3.01K
Vref
3.01K
3.01K
0.1uF
AGND
Vref
3.01K
20.0K
220pF
2 - TLE084
150
1
3 +
20.0K
0.0022uF
AGND
20.0K
220pF
6 - TLE084
150
7
5 +
20.0K
0.0022uF
AGND
LOAD METER + (RED)
TP1 (AN0)
LOAD METER - (BLACK)
TP7 (AGND)
AUX. ANALOG OUT
TP2 (AN1)
Load Meter Output Schematic
20
MANUAL # 9675-1035-000-A
www.glentek.com
Appendix B
B-8 PC Interface
The PC interface can be found at the HOST connector. A RS-232 interface is on the external of the
spindle drive. This port is the primary means of communication with the spindle drive for setup and control.
The port utilizes an RJ-45 type connector.
+3.3V
MAX3232EIDR
16
Vcc
C1+
2
V+
C1-
0.1uF
6
V-
RJ45SHLD
0.1uF
0.1uF
C2+
H1
10.0K
15
GND
C2-
1
14
T1OUT
T1IN
2
3
13
R1IN
R1OUT
4
TX232
5
7
T2OUT
T2IN
6
RX232
7
8
R2IN
R2OUT
8
H2
1
0.1uF
3
4
+3.3V
0.1uF
5
11
10.0K
12
10
9
FROM DSP (SCITX)
TO DSP (SCIRX)
RS-232 Input Schematic
The serial cable can be made or purchased for communicating with a PC by configuring a cable with
one end being a male RJ-45 plug and the other end being a DB-9 female connector.
Note: If required, Glentek can customize a serial port digital interface to adapt to your controller as
required to meet your protocols. We are currently doing this for high speed Ethernet ports.
MANUAL# 9675-1035-000-A
21
Appendix B
www.glentek.com
B-9 Power Input and Motor Output
The signal names for power are listed below:
Pin Name
Description
--------------
----------------------------------
L1, L2, L3
Input - AC voltage (line 1, line 2, and line 3, respectively).
PE
Protective Earthing, Chassis GND.
B+
Output - DC BUS +.
B-
Output - DC BUS Return.
R1
Output - Brake/Regen resistor.
R2
Output - Brake/Regen resistor.
PHASE T1
Output - Motor phase T1.
PHASE T2
Output - Motor phase T2.
PHASE T3
Output - Motor phase T3.
L1, L2, and L3 are 3-phase, 208-240 VAC, 50/60 Hz AC inputs. The maximum inrush current at
power up is 510 A @ 240 VAC.
B+ and B- are unregulated DC BUS output (derived from 3-phase inputs). Total DC BUS capacitance
is 4,080 uF. BUS under-voltage trips nominally at 50 VDC ± 5%. BUS overvoltage trips nominally at
450 VDC ± 5%.
R1 and R2 are external Regen resistor (brake) outputs. Acceptable resistance range is 12 - 30 Ohms.
Regen turns on at 395 VDC ± 5%. Regen circuit uses a Ferraz Shawmut TRS10R time delay fuse.
Motor power is delivered at pins PHASE T1, T2 and T3. The motor power is Pulse Width
Modulated signals used to drive the motor.
It is recommended that the wire size for 3-phase AC inputs and motor outputs is 8 AWG (8.36 mm2)
or larger, 105°C rated PVC or better.
It is recommended that the wire size for DC BUS, and Brake/Regen resistor inputs is 10 AWG (5.26 mm²)
or larger, 105°C rated PVC or better.
Note: It is best not to connect the motor power pins until it is established that the logic section is working
and operational. This means that with the AC input pins connected, one should be able to communicate
with the spindle drive via a serial cable and the motor encoder feedback should be functioning properly.
22
MANUAL # 9675-1035-000-A
www.glentek.com
Appendix C
Appendix C - Application Software
C-1 MotionMaestro©
MotionMaestro© is Glentek's Windows based application software that you will need to setup and tune
the spindle drive. MotionMaestro© has many features that allow users to easily configure and tune the
entire Glentek digital product line. However, for the Fadal VMC replacement spindle drive most of the
setup has been done at the factory. The installer only needs go through a quick tuning procedure to
get the spindle drive up and running. But first, MotionMaestro needs to be installed.
C-2 Installing MotionMaestro©
C-2.1 Requirements
MotionMaestro© requires either Windows 95, Windows NT 4.0, Windows 98 SE, Windows 2000,
Windows ME, Windows XP, Windows 7, or the Windows 8 operating system. A computer with a serial
port or a USB port is also required. It is suggested that you have a minimum of 3 megabytes of
application program disk space available prior to installation.
C-2.2 MotionMaestro© v1.37
Only MotionMaestro© v1.37 or later will work with Glentek Inc. spindle drives, earlier versions are
not compatible.
C-2.3 Installation
The MotionMaestro© install disk is set up to utilize Install 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 complete, you will find a MotionMaestro© icon in the Windows
Start\Programs menu. The MotionMaestro© installation program is named Setup.exe. It is found in
the MotionMaestro© \disk1 directory of the distribution CD, included with the spindle drive. The
installation will also create a Glentek folder in the Program Files folder.
A MotionMaestro© 1.37 folder is created when 1.37 installed. You can have multiple versions
of MotionMaestro© installed, if you wish, and they will be placed into their own directories. When
MotionMaestro© is directed to establish communications with the spindle drive, the spindle drive is
queried for a model ID and Firmware version. MotionMaestro© will configure itself and select the
appropriate configuration files based on the spindle drive’s returned values.
MANUAL# 9675-1035-000-A
23
Appendix C
www.glentek.com
C-3 Communicating With the Spindle Drive or VFD Drive
C-3.1 Serial Port
If your PC has a serial port (RS-232), you can connect to the spindle drive with Glentek cable (GTK #
GC2400-AL005AM-000). This cable has a female DB-9 (computer) on one end and an RJ-45 (spindle
drive) on the other.
Photo 6: Serial port on the spindle drive
Photo 7: GC2400-AL005AM-000
C-3.2 USB Port
If your PC has a USB port, a USB to serial port (RS-232) adapter (GTK # GC2410-001) is necessary
in addition to the cable above. Two known tested adapters are available: USBG-232 from USBGEAR
and US232R-10 from FUTURE TECHNOLOGY DEVICES INTERNATIONAL Ltd.
Photo 8: USBG-232
24
MANUAL # 9675-1035-000-A
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Drawings & Diagrams
MANUAL# 9675-1035-000-A
25
Drawings & Diagrams
www.glentek.com
26
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
Vector Drive Connection Diagram Page 1
MANUAL# 9675-1035-000-A
27
Drawings & Diagrams
www.glentek.com
Vector Drive Connection Diagram Page 2
28
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
Sensored Vector Command Input Control Diagram
Analog Input
+
Input Analog
Analog Input
Analog to Digital
Scale
Velocity or
Deadband
Conversion
(IAS)
Current Command
(IAD)
+
32768
MM Set
MM Set
Input Analog
Offset
(IAO)
MM Set
Digital
Bidirectional
+
+
Communication
Serial Interface:
Port
CanOpen, etc
Current
Mode 1
To Current Control
Current
Limiter
Loop Diagram
Command
(IL)
Mode 1
Trajectory Slew-
(SVC)
Rate Generator
Amps / Sec or
MM Set
MM View
RPM / Sec
(AL/DL)
Velocity
Mode 2
To Velocity
Velocity
Limiter
Control Loop
Command
(VL)
Diagram
MM Set
(SVC)
MM Set
MM View
MANUAL# 9675-1035-000-A
29
Drawings & Diagrams
www.glentek.com
Sensored Vector Velocity Control Loop Diagram
Proportional
Gain
(GVP)
32768
+
Gain
Velocity
Mode 2
Mode 2
+
Velocity
Error
MM Set
Velocity Loop
Velocity
Command
Error Command
Command
Integer
to Current Loop
(SVC)
-
Settable
Integral Gain
(SVC)
+
(GVC)
View MM
Measured Motor
(GVI)
MM Set
Velocity with
32768
Derivative and
Tach Gain
MM Set
Gain Velocity
Derivative Gain
Raw Velocity
Scale in Counts
+
Tach Gain
per Interrupt
Velocity
Low Pass
Estimate
(GVD)
Power of 2
From Current
Feedback filter
(GVF)
settable
Control Loop
256
32768
20=1
Diagram
+
MM Set
28=256
MM Set
MM Set
(GVS)
MM Set
Scaled Velocity
±32767
(SVS)
MM View
30
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
Sensored Vector Current Control Loop Diagram
Mode 1
Current
Command
(SVC)
Mode 2
Velocity Loop
Error Comand
from Velocity
Control Loop
(SVC)
MM View
Loop Gain
Set at Unity Gain
(32767) when
System is Properly
Phased
(GL)
MM Set
Filter 1
Programmable
Biquad Filter
High Pass
Low Pass
Band Pass
Band Reject
MM Set
Filter 2
Programmable
Biquad Filter
High Pass
Low Pass
Band Pass
Band Reject
MM Set
Filter 3
Programmable
Biquad Filter
High Pass
Low Pass
Band Pass
Band Reject
MM Set
Current Limit
(IL)
32768
MM Set
Rotor Flux
Current
(VFI)
MM Set
Rotor Time
Constant
(VFT)
Velocity To
Velocity
Control Loop
Diagram
Field
Weakening
DQ Current
+
Command
(SID)
(SIQ)
-
MM View
Measured
Current
(SIA)
(STD)
(STQ)
Slip Estimator
Integral Gain
(GII)
32768
MM Set
Proportional
Gain
(GIP)
32768
MM Set
MM View
+
+
Commutation
Angle
MM View
Park
Transform
Station Frame to
Rotation Frame
conversion
Commutation
Window for Number
of Poles, Encoder
Count, etc
GLENTEK Custom
16bit High Band
Velocity Generator
GLENTEK
custom Space
Vector Modulator
conversion from
Station Frame to
3 phase
R
S T
Current
Sense
Current
Clarke
Sense
Transform
Current
3→2
Sense
Position
3
Data
Incremental
Induction
Encoder
Motor
07-12-2010
MANUAL# 9675-1035-000-A
31
www.glentek.com
32
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
208 Standard Street, El Segundo, California 90245, USA.
Telephone: (310) 322-3026; Fax: (310) 322-7709
www.glentek.com
e-mail: sales@glentek.com
MANUAL# 9675-1035-000-A
33
&
OPERATION MANUAL
Model SMB9675-1A-1-7700
FADAL REPLACEMENT
SPINDLE DRIVE
MANUAL#: 9675-1035-000
REVISION: (A)
DATE: 9 Sep 2015
Fadal is a trademark of Fadal Machining Centers, we have no affiliation with Fadal or Mag IAS
www.glentek.com
2
MANUAL # 9675-1035-000-A
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www.glentek.com
Table of Contents
TABLE OF CONTENTS
CHAPTER ONE: GENERAL .................................................................................................................................................................. 5
1.1 OVERVIEW ........................................................................................................................................................................................... 5
1.2 INTENDED APPLICATION .......................................................................................................................................................................... 5
1.3 MODE OF OPERATION ............................................................................................................................................................................ 6
CHAPTER TWO: INSTALLING A GLENTEK SPINDLE DRIVE INTO A FADAL VMC ................................................................................... 7
2.1 REMOVING THE OLD DRIVE ....................................................................................................................................................................... 7
2.2 MECHANICAL INSTALLATION ..................................................................................................................................................................... 7
2.3 ELECTRICAL INSTALLATION ....................................................................................................................................................................... 7
CHAPTER THREE: INITIALIZATION AND POWER UP ........................................................................................................................... 9
3.1 BEFORE ANY INITIALIZATION .................................................................................................................................................................... 9
3.2 TURNING THE POWER ON ....................................................................................................................................................................... 9
3.4 OPERATING THE SPINDLE ......................................................................................................................................................................... 9
3.5 POT ADJUSTMENTS ................................................................................................................................................................................ 9
3.6 RIGID TAP TEST (OPTIONAL) ................................................................................................................................................................... 9
CHAPTER FOUR: TROUBLESHOOTING AND MAINTENANCE .............................................................................................................11
4.1 STATUS DISPLAY CODES ........................................................................................................................................................................ 11
4.2 MAINTENANCE ................................................................................................................................................................................... 11
CHAPTER FIVE: WARRANTY, FACTORY REPAIR, AND SAFETY ...........................................................................................................12
5.1 WARRANTY........................................................................................................................................................................................ 12
5.2 FACTORY REPAIR ................................................................................................................................................................................. 12
5.3 SAFETY ............................................................................................................................................................................................. 13
APPENDIX A - SPINDLE DRIVE CONNECTIONS ..................................................................................................................................14
A-1 MOTOR POWER CONNECTORS ............................................................................................................................................................... 14
A-2 CONTROLLER I/O CONNECTORS ............................................................................................................................................................. 14
A-3 ENCODER INPUT CONNECTOR ................................................................................................................................................................ 15
A-4 ENCODER OUTPUT CONNECTOR ............................................................................................................................................................. 16
A-5 HOST (SERIAL COMMUNICATION) CONNECTOR .......................................................................................................................................... 16
A-6 POWER AND SIGNAL WIRING ................................................................................................................................................................. 16
APPENDIX B - SPINDLE DRIVE CONNECTION INTERFACE ..................................................................................................................17
B-1 STATUS DISPLAY ................................................................................................................................................................................. 17
B-2 CONTROLLER INPUT AND OUTPUT SIGNALS ............................................................................................................................................... 17
B-3 ANALOG INPUT, COMMAND SIGNAL ........................................................................................................................................................ 18
B-5 ENCODER FEEDBACK ............................................................................................................................................................................ 20
B-6 ENCODER OUTPUT .............................................................................................................................................................................. 20
B-7 LOAD METER OUTPUT ......................................................................................................................................................................... 20
B-8 PC INTERFACE .................................................................................................................................................................................... 21
B-9 POWER INPUT AND MOTOR OUTPUT....................................................................................................................................................... 22
MANUAL# 9675-1035-000-A
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Table of Contents
www.glentek.com
APPENDIX C - APPLICATION SOFTWARE ..........................................................................................................................................23
C-1 MOTIONMAESTRO© .......................................................................................................................................................................... 23
C-2 INSTALLING MOTIONMAESTRO© ........................................................................................................................................................... 23
C-3 COMMUNICATING WITH THE SPINDLE DRIVE OR VFD DRIVE ........................................................................................................................ 24
APPENDIX D - DRAWINGS & DIAGRAMS ..........................................................................................................................................25
SPINDLE DRIVE INSTALLATION DRAWING 1 ...................................................................................................................................................... 25
SPINDLE DRIVE INSTALLATION DRAWING 2 ...................................................................................................................................................... 26
SPINDLE DRIVE CONNECTION DIAGRAM PAGE 1 ............................................................................................................................................... 27
SPINDLE DRIVE CONNECTION DIAGRAM PAGE 2 ............................................................................................................................................... 28
SENSORED VECTOR COMMAND INPUT CONTROL DIAGRAM ................................................................................................................................. 29
SENSORED VECTOR VELOCITY CONTROL LOOP DIAGRAM .................................................................................................................................... 30
SENSORED VECTOR CURRENT CONTROL LOOP DIAGRAM .................................................................................................................................... 31
4
MANUAL # 9675-1035-000-A
www.glentek.com
Chapter One
Chapter One: General
1.1 Overview
The Glentek Inc. SMB9675-1A-1-7700 spindle drive uses flux vector technology to close a torque
(current) feedback loop. When applied to a three phase induction motor, the result is servo motor like
performance from a standard three phase induction motor. The Digital Signal Processor (DSP)
based spindle drive uses its high speed math processing capability to continuously calculate flux and
torque vectors and to maintain a constant 90 degree phase difference between the vectors. This
technique allows torque control from zero speed to base speed and above. Encoder feedback
provides the shaft position data needed to calculate the vectors and velocity data, thus, Vector
Control allows precise speed control down to and including zero speed of an induction motor.
The SMB9675-1A-1-7700 spindle drive can operate in sensor-less mode (no feedback is needed).
This mode of operation is usually referred to as inverter mode or VFD (Variable Frequency Drive)
mode. With advanced mathematic algorithms and latest DSP technology, the Glentek SMB9675-1A-
1-7700 is optimized to produce a steady starting torque from standstill right up to full speed with high
efficiency. The applied frequency and voltage are increased at a controlled rate and ramped up to
accelerate the load without drawing excessive current.
1.2 Intended Application
The SMB9675-1A-1-7700 is intended as a drop-in replacement spindle drive for FADAL
ENGINEERING VMC’s. See the part numbers listed in the Mode of Operations section (section 1.3)
for the available configurations.
MANUAL# 9675-1035-000-A
5
Chapter One
www.glentek.com
1.3 Mode of Operation
Changing the Mode of Operation dial (SW1) (see pg. 26) will modify the configuration of the spindle
drive. Aligning the dial to any of the positions listed below will alter the drive to those settings. If
none of the settings below match your preference please contact one of Glentek’s sales engineers
for assistance. The drive is shipped with the dial at position 0 (zero)
Mode of Operation Position Settings
Position
Power (HP)
RPM
Sensor/VFD Part Number
Model Number
0
15
10K
Sensor
7700
SMB9675-1A-1-7700
1
15
7.5K
Sensor
7701
SMB9675-1A-1-7701
2
15
10K
VFD
7702
SMB9675-1A-1-7702
3
10
10K
Sensor
7703
SMB9675-1A-1-7703
4
10
7.5K
Sensor
7704
SMB9675-1A-1-7704
5
10
10K
VFD
7705
SMB9675-1A-1-7705
6
20
10K
Sensor
7707
SMB9675-1A-1-7707
7
20
7.5K
Sensor
7708
SMB9675-1A-1-7708
8
20
10K
VFD
7709
SMB9675-1A-1-7709
9
5
10K
Sensor
7710
SMB9675-1A-1-7710
A
5
7.5K
Sensor
7711
SMB9675-1A-1-7711
B
5
10K
VFD
7712
SMB9675-1A-1-7712
C
-
-
-
-
-
D
-
-
-
-
-
E
-
-
-
-
-
F
-
-
-
-
-
Note: Positions C, D, E, and F are reserved for future configurations.
Note: Align the dial to the desired configuration before installation or disable the drive with an M5
(spindle stop) command BEFORE rotating the dial. The four place seven-segment displays will
display the operation mode selected (i.e. 7700, 7701, etc.) for seven seconds, then reverts to
displaying motor rpm. Enable the drive to run in the new mode.
6
MANUAL # 9675-1035-000-A
www.glentek.com
Chapter Two
Chapter Two: Installing a Glentek Spindle Drive into a Fadal VMC
2.1 Removing the old drive
Turn off the power to the VMC and wait 5 minutes before beginning removal. Disconnect all the wires
and cables. If any wires are not labeled take note of their location. Of the cables, only the Control
cable and the Delta/Wye cable can be confused, both are 6 terminal connectors. The control cable
has 6 sockets in the connector and Delta/Wye cable has 3 sockets in the connector. Unbolt the old
drive and remove.
2.2 Mechanical Installation
Install the new drive (slots down) by first resting the drive on the lower mounting studs in the
panel and positioning the drive over the studs at the top. Hold the drive against the panel and
loosely install four screws, top two first. Then tighten all four screws.
2.3 Electrical Installation
2.3.1 Power Terminal Block Connections
Begin the wiring by connecting the AC, regenerative braking, motor, and green ground wires.
Match the wire labels to the terminal block labels. Check connections for tightness. See Appendix A
for more details.
2.3.2 Load Meter Cable
Connect the load meter cable by connecting the black wire to P1-1 screw terminal and the red wire
to P1-2.
2.3.3 Spindle Control Cable
Connect the spindle control cable to P2. The spindle control cable has 6 sockets installed; do
not mistake the wye/delta connector with only 3 sockets.
2.3.4 Wye/Delta Cable
Connect the wye/delta cable to P4 (wye/delta is an option for 7500 RPM spindles; your VMC may not
have this cable).
2.3.5 Encoder Feedback Cable
Connect the encoder feedback from the motor (9 terminal connector) to P3 (VFD drives doe
not need this cable).
2.3.6 Rigid Tap Cable (Encoder Output To CNC Control)
For VMC’s with the Rigid Tap option, connect the rigid tap cable from the CNC to P5 of the spindle
drive. Use the installation drawing (Drawings & Diagrams) to match the wires by color to the
correct terminal.
MANUAL# 9675-1035-000-A
7
Chapter Two
www.glentek.com
Photo 1: A successful spindle drive installation.
Photo 2: Close up of a successful spindle drive installation.
8
MANUAL # 9675-1035-000-A
www.glentek.com
Chapter Three
Chapter Three: Initialization and Power Up
3.1 Before Any Initialization
The only setup required by the end user is to select the mode of operation. All the tuning has been
preset at the factory, meaning the drive will run correctly. If applying minor changes (adjusting input
command offsets, etc.) to the spindle drive, use the procedures below for reference.
3.2 Turning the Power On
Carefully recheck the wiring. Restore power to the VMC. For seven seconds the four rightmost seven-
segment displays will show the spindle drive configuration. Afterwards, those four displays will show
the rpm value of the spindle motor, not the spindle itself. Confirm the desired mode of operation has
been selected.
3.4 Operating the Spindle
From the VMC control panel operate the spindle and confirm the spindle runs at the commanded
speeds and in the correct direction (CW and CCW). It is important to note, the 4 digit display on the
drive reports the speed of the spindle motor, the speed of the spindle itself may be different
depending on the machine design and mode. The drive calculates the rpm from the encoder signals
when operating in vector mode, when the drive is used in VFD or inverter mode (no encoder) the
rpm is calculated from the input command signal voltage received from the Fadal control.
3.5 Pot Adjustments
Normally, no adjustments are needed. However, for convenience, there are two pots (see page 26)
the balance pot and the signal pot. The balance pot can be used to equalize the rpm’s in the CW and
CCW directions. The signal gain pot can be used to make small adjustments to the speed of the
spindle. The pots are not intended to correct large differences between commanded speed and
actual speed. If after initial installation the expected speeds are significantly different from the
commanded speeds double check that the mode of operation from the table is correct for the VMC.
Consult your distributor or Glentek technical support for additional help.
The pots can be restored to their starting or “zero” positions by using a voltmeter.
Attach the black lead to TP7 (see page 26) and the red lead to TP3 for balance and to TP4 for
signal gain. Adjust the voltage to 1.50VDC.
3.6 Rigid Tap Test (Optional)
If desired you can test the rigid tap mode of your VMC by performing the following procedure. This
procedure is drawn from the FADAL maintenance manual. Install the test screw (SVT-0077). The
screw can be fabricated from 1.000” round stock, by threading a 14 TPI Acme thread. Program is
for Format 1. Use test program #6000 or the following program:
MANUAL# 9675-1035-000-A
9
Chapter Three
www.glentek.com
%
N1 O6000 (RIGID TAP CYCLE)
N2 G80
N3 S750
N4 G91
N5 X0.1 Y0.1 G1 F10.
N6 M5
N7 G4 P2000
N8 G84.1 Z-1. R+0 F500. Q0.0714
N9 M45
N10 X-0.1 Y-0.1 G1 F10.
N11 M45
N12 M45
N13 M45
N14 M45
N15 G80
N16 G4 P2000
N17 M99 P5
N18 (!)
N19 (NOTE: O5827 CNC88 TEST WAS MOVED TO TA, 5!!!)
%
3801
Once the program is loaded, jog the z axis down so the screw can be indicated.
Type “SETZ” and press ENTER. Start the test program and observe that the program is running
correctly. Depress the SINGLE STEP key. Be sure the test screw returns to its original position.
Set the indicator as shown below, the tip must be touching the lower thread halfway into the
thread, the second thread from the bottom.
Run the test and observe the indicator. The reading should not deviate from zero more than .002”
on either side of zero. If necessary, consult the FADAL maintenance manual for your machine.
Photo 3: Test screw in setup with dial
Photo 5: Test screw in toolholder
Photo 4: Test screw
10
MANUAL # 9675-1035-000-A
www.glentek.com
Chapter Four
Chapter Four: Troubleshooting and Maintenance
4.1 Status Display Codes
Display
Name
Description
Possible Cause
1
EEPROM Fault
Parameter EEPROM
Internal problem,
checksum fault
contact Glentek
8
Reset
External reset
Improper configuration
setting
8.
Reset
Drive processor is in
Internal problem,
reset
contact Glentek
A
Overspeed
Motor RPM is over
Mechanical linkage
speed limit
problem
Regenerative braking
Bus Over
DC bus exceeded
circuit not working, regen
b
resistor does not match
Voltage
450VDC
spindle, check fuse in
regen circuit
C
Clamp
Spindle drive disabled
Control is disabling the drive
(Disabled)
E
Encoder
Encoder fault detected
Encoder faulty or encoder
Fault
wiring broken
F
Foldback
Motor current draw
Mechanical binding in
exceeded set point
motor or spindle
H
Heatsink Over
Heatsink exceeded
Fan(s) failed
Temperature
65ºC
L
LS/ECB
Motor RMS over
Mechanical binding in
current
motor or spindle
0
Normal
Drive enabled
Normal when rotating
Operation
S
HS/ECB
Output short circuit
Motor windings shorting
detected
U
Bus Under
DC bus below 50VDC
AC input voltage to drive
Voltage
nominal
is low or off
Single
Normal
Drive enabled
Normal @ zero speed
segment
Operation
4.2 Maintenance
The only maintenance required is to periodically inspect the fans. The blades should be free
turning and built up dirt should be removed from the blades.
MANUAL# 9675-1035-000-A
11
Chapter Five
www.glentek.com
Chapter Five: Warranty, Factory Repair, and Safety
5.1 Warranty
Any product, or part thereof, manufactured by Glentek, Inc., described in this manual, which under
normal operating conditions, in the plant of the original purchaser, thereof proves defective in material
or workmanship within one year from the date of shipment by us, as determined by an inspection by
us, will be repaired or replaced free of charge, FOB our factory, El Segundo, California, U.S.A.
provided that you promptly send to us notice of the defect and establish that the product has been
properly installed, maintained, and operated within the limits of rated and normal usage, and that no
factory sealed adjustments have been tampered with. Glentek's liability is limited to repair or
replacement of defective parts.
Any product or part manufactured by others and merely installed by us, such as an electric motor, etc., is
specifically not warranted by us and it is agreed that such product or part shall only carry the warranty, if
any, supplied by the manufacturer of that part. It is also understood that you must look directly to such
manufacturer for any defect, failure, claim or damage caused by such product or part.
Under no circumstances shall Glentek Inc. or any of our affiliates have any liability whatsoever for
claims or damages arising out of the loss of use of any product or part sold to you. Nor shall we have
any liability to yourself or anyone for any indirect or consequential damages such as injuries to
person and property caused directly or indirectly by the product or part sold to you, and you agree in
accepting our product or part to save us harmless from any and all such claim.
5.2 Factory Repair
Should it become necessary to return a spindle drive to Glentek for repair, please follow the
procedure described below:
1. Reassemble the unit, if necessary, making certain that all the hardware is in place.
2. Tag the unit with the following information:
A. Serial number and model number
B. Company name, phone number, and name of representative returning the unit
C. A brief note explaining the malfunction
D. Date the unit is being returned
3. Repackage the unit with the same care and fashion in which it was received. Label the package
with the appropriate stickers (e.g. FRAGILE: HANDLE WITH CARE).
4. Contact a Glentek representative, confirm that the unit is being returned to the factory and
obtain an RMA (Return Material Authorization) number. The RMA number must accompany the
unit upon return to Glentek.
5. Return the unit by the best means possible. The method of freight chosen will directly affect the
timeliness of its return.
12
MANUAL # 9675-1035-000-A
www.glentek.com
Chapter Five
5.3 Safety
• Serious or fatal injury can result from failure to work safely on this equipment.
• Only qualified personnel should install and maintain this spindle drive.
• The drive has capacitors that remain charged after the power is shutoff. Wait 5 minutes to allow
the capacitors to discharge before removing the cover or working on the drive.
• Be sure the system is properly grounded before applying power.
• Regenerative braking resistors can generate temperatures that ignite combustible materials or
vapors. Keep all combustible materials way from braking resistors.
• Braking resistors should be shielded to prevent burn injuries.
• The motor will rotate when autotuning, take precautions to prevent injury and damage to
equipment.
MANUAL# 9675-1035-000-A
13
Appendix A
www.glentek.com
Appendix A - Spindle Drive Connections
A-1 Motor Power Connectors
Table A-1.1 Motor Power Designations
Pin #
I/O
Name
Function
1
Input
L1
AC LINE 1, three phase AC input
2
Input
L2
AC LINE 2, three phase AC input
3
Input
L3
AC LINE 3, three phase AC input
4
Rsvd
N/C
Reserved
5
Rsvd
N/C
Reserved
6
Output
B-
DC BUS Return output
7
Output
R1
Brake/Regen resistor output
8
Output
R2
Brake/Regen resistor output
9
Output
B+
DC BUS + output
10
Output
T1
Motor Output Phase T1
11
Output
T2
Motor Output Phase T2
12
Output
T3
Motor Output Phase T3
Table A-1.2 Motor Power Connectors
Connector Type/Description
12-Pin Terminal Block
Terminal Block, Barrier,
Marathon 985-GP-12
12 Position, 10-4 AWG
A-2 Controller I/O Connectors
Table A-2.1 Load Meter Designations: Labeled as P1 on spindle drive
Pin #
I/O
Name
Function
1
Output
- (BLACK)
GND
2
Output
+ (RED)
Current Monitor Output
Table A-2.2 Load Meter Connector
Connector Type/Description
2-Pin Terminal Block
Terminal Block, Single Row,2 Position,
Magnum A202202NL
22-12 AWG
14
MANUAL # 9675-1035-000-A
www.glentek.com
Appendix A
Table A-2.3 Spindle Control Designations: Labeled as P2 on spindle drive
Pin #
I/O
Nam
e
Function
1
Input
Spindle Common (for Forward
FW /REV COM
& Reverse)
2
Input
Spindle Reverse
REVERSE
3
Input
Spindle Forward
FRWR
4
Input
CMD Common
F T/SPEED COM
(for Fault & Speed)
5
Input/
Emergency Stop/Spindle Fault
F
T
Output
6
Output SPEED CMD
Spindle Speed Command
Table A-2.4 Wye/Delta Config Designations: Labeled as P4 on spindle drive
Pin #
I/O
Nam
e
Function
1
Input
Wye or Delta modes
WYE / E T
2
N/C
Reserved
Reserved
3
Input
High Gain or Low Gain modes
HIGH / W GAIN
4
Input
Common
Common for Wye/Delta and
High Gain/Low Gain modes
5
N/C
Reserved
Reserved
6
N/C
Reserved
Reserved
Table A-2.5 Spindle Control and Wye/Delta Config Connectors
Connector
6-Pin Male Mating
Female Crimp Terminal
Type/Description
Connector Housing
Receptacle, 6 Position,
Molex 03-09-
1064
Molex 02-09-1119
22-18 AWG
A-3 Encoder Input Connector
Table A-3.1 Encoder Input Designations: Labeled as P3 on spindle drive.
Pin #
I/O
Name
Function
1
Input
Shield
Cable Shield
2
Power
+5V
Encoder +5VDC out, 150mA max
3
Power
GND
Encoder Power Return
4
Input
B -
Encoder Channel B -
5
Input
B +
Encoder Channel B +
6
Input
Z +
Encoder Index + (Channel Z +)
7
Input
A -
Encoder Channel A -
8
Input
A +
Encoder Channel A +
9
Input
Z -
Encoder Index - (Channel Z -)
Table A-3.2 Encoder Input Connector
Connector
9-Pin Male Mating
Female Crimp Terminal
Type/Description
Connector Housing
Receptacle, 9 Position, 22-18 AWG
Molex 03-06-1092
Molex 02-06-1103
MANUAL# 9675-1035-000-A
15
Appendix A
www.glentek.com
A-4 Encoder Output Connector
Table A-4.1 Encoder Output Designations: Labeled as P5 on spindle drive.
Pin #
I/O
Name
Function
1
Power
GND
Encoder Power Return
2
Output
AOut +
Encoder Channel A +
3
Output
AOut -
Encoder Channel A -
4
Output
BOut +
Encoder Channel B +
5
Output
BOut -
Encoder Channel B -
Table A-4.2 Encoder Output Connector
Connector Type/Description
5-Pin Terminal Block
Terminal Block,5 Position,
Phoenix Contact 1934890
22-12 AWG
A-5 Host (Serial Communication) Connector
Table A-5.1 Host (Serial Communication) Designations: Labeled as P6
on spindle drive.
Pin #
I/O
Name
Function
1
Reserved
Reserved
Reserved
2
Reserved
Reserved
Reserved
3
Reserved
Reserved
Reserved
4
Input/output
COMMON
Logic Ground
5
Output
RS-232 TX
RS-232 Transmit
6
Input
RS-232 RX
RS-232 Receive
7
Reserved
Reserved
Reserved
8
Reserved
Reserved
Reserved
Table A - 5.2. Host (Serial Communication) Connector
Connector Type/Description
8-Pin Male Mating Connector
Standard Commercial, RJ-45
Commercial, RJ45
A-6 Power and Signal Wiring
A-6.1 Recommend 3-phase input, 3-phase output, and chassis GND power wiring, 8 AWG
(8.36 mm2) or larger, 105°C rated PVC or better.
A-6.2 Recommend BUS+, BUS Return, and brake power wiring, 10 AWG (5.26 mm2) or
larger, 105°C rated PVC or better.
A-6.3 Recommend all signal wiring, 22 AWG (0.326 mm2) or larger, 105°C rated PVC or better.
16
MANUAL # 9675-1035-000-A
26
11
14
www.glentek.com
Appendix B
Appendix B - Spindle Drive Connection Interface
This section describes the spindle drive connections and how they are used in the typical application.
Refer to the spindle drive’s installation drawing in Drawing & Diagrams. This drawing indicates the location
of the pins described below along with the location of the connector they can be found on.
B-1 Status Display
A diagnostic 7-segment LED display is provided for determining the general operating condition of
the spindle drive.
When the drive is operating normally, one of the outer six segments is lit. Each of the six outer segments
represents one of the six commutation states in a commutation cycle of a motor. A commutation cycle
consists of two poles. In a 4-pole motor, the LED will cycle through its six outer segments 2 times for one
revolution of a rotary motor. When the motor’s current is clamped, (i.e. held to zero), or the spindle drive is
in a fault condition, one of the fault characters will be displayed as is appropriate to the fault or state.
Note: See Chapter 4 for more information on Drive status codes.
B-2 Controller Input and Output Signals
Signals that typically are connected to an external controller are described in this section. These
signals include the primary command signal interface to the spindle drive, Forward/Reverse,
Wye/Delta, Hi Gain/Lo Gain, Estop/Fault, load meter, encoder output signal, and common.
Signal
Description
SPEED CMD
Command signal analog input, reference to CMD Common.
Enable the motor in the CCW direction.
SPINDLE FRWR
Enable the motor in the CW direction.
SPINDLE REVERSE
Enable the motor either in WYE or DELTA mode.
WYE / E T
Enable the motor either in HI or LO gain mode.
HIGH /
W GAIN
/
Bi-directional, functions as Emergency Stop input or Fault output.
EST
FT
LOAD METER
Analog output, indication of the load current on the motor.
AOut
Encoder A channel Output.
BOut
Encoder B channel Output.
ZOut
Encoder Z index Output (not used).
For the actual pin out of above signals, see Appendix A - Controller I/O Connector section
MANUAL# 9675-1035-000-A
17
Appendix B
www.glentek.com
B-3 Analog Input, Command Signal
Pins SPINDLE CMD and F T/SPEED COM are the command input pins. The command input takes a differential
analog signal as referenced to the spindle drive’s ground. Input voltage is expected to range from -10 volts
to +10 volts (typical).
The velocity command signal will be 0 to +10 VDC in unipolar control (non-rigid tap mode), ±10 VDC for
bipolar control (rigid tap mode).
Note: CMD COMMON (AGND) is connected to Logic Common (Digital GND) inside the spindle drive.
TP5
10.0K
SPEED CMD
FLT/SPEED COM
10.0K
TP6 AGND
0.022uF
1.50K
9 - TLE084
8
TO DSP A/D CONVERTER
10
+
332
0.33uF
1.50K
0.022uF
AGND
Vref
Command Signal Analog Input Schematic
B-4 Controller Inputs/Outputs - Direction Control, WYE /
, HIGH/
GAIN
Inputs,
Input, and
Output
The spindle drive accepts SPINDLE
and SPINDLE
signals for operating four rotation
FRWR
REVERSE
commands.
ACTION
closed
open
drive on, CCW rotation, unipolar speed control
open
closed
drive on, CW rotation, unipolar speed control
closed
closed
drive on, bipolar speed and direction control
open
open
drive off, no voltage or flux to the motor
SPINDLE F RW R and SPINDLE REVERSE are enable and direction control signals. That is, each signal
enables motor movement in one direction. If both signals are closed (the signals are pulled low), motor
movement in both directions is enabled. When only one enable is closed (F RW R or REVERSE on), the
velocity command is unipolar, and when both enables are closed (F RW R and REVERSE on), the velocity
command is bipolar.
When both F RW R and REVERSE are closed, the spindle drive is in rigid tap mode. When only F RW R or
REVERSE is closed, the spindle drive is in non-rigid tap mode (sometimes called “inverter” mode). Both
rigid tap mode and non-rigid tap (“inverter”) mode are used with vector drives. Inverters or VF drives use
non-rigid tap mode only.
18
MANUAL # 9675-1035-000-A
www.glentek.com
Appendix B
+10V
1.00K
+5V
+5V
3
HMA124
4.99K
1
4
MMBD7000
1
1.21K
2
3
10.0K
FAULT
1
+5V
3
HMA124
4.99K
1
4
MMBD7000
9
1.21K
2
3
10.0K
FORWARD
1
+5V
3
HMA124
4.99K
1
4
MMBD7000
5
1.21K
2
3
10.0K
REVERSE
1
+5V
3
HMA124
4.99K
1
4
MMBD7000
3
1.21K
2
3
10.0K
WYE/DELTA
1
+5V
3
HMA124
4.99K
1
4
MMBD7000
1
1.21K
2
3
10.0K
HIGH/LOW GAIN
1
IRLL014
10.0K
40106
2
40106
8
40106
6
40106
4
40106
2
+5V
1.00K
+3.3V
3
1
10.0K
MMBD7000
FROM DSP
13
12
TO DSP
40106
2.00K
TO DSP
10.0K
0.33uF
AGND
TO DSP
TO DSP
TO DSP
TO DSP
Controller I/O Schematic
When F RW R and REVERSE are both open (signals are left floating) the spindle is off and spins freely.
However, the change from closed to open (F RW R and/or REVERSE on to both off) is also a signal to stop
(just like Emergency Stop); the drive is never supposed to coast to a stop.
The change from WYE to DELTA or vice versa occurs only when the drive is off (F RW R and REVERSE
open) and the motor is stopped or below 50 rpm. When the CNC wants DELTA mode, the signal WYE / E T
is pulled low.
When the CNC wants LOW GAIN, the signal HIGH / W GAIN is pulled low.
EST and F T share the same I/O pin at the spindle drive. A spindle F T is declared by the spindle drive.
Status good is 10 VDC thru a 1K pull-up resistor. 0 VDC indicates a fault condition to the CNC. The Fault
output is open collector that can sink 500 mA max. When EST is asserted (signal is pulled low), drive is to
totally ignore F RW R , REVERSE, and the velocity command, and ramp down to a stop.
MANUAL# 9675-1035-000-A
19
Appendix B
www.glentek.com
B-5 Encoder Feedback
The following pin description defines the main encoder feedback input port.
Signal
Description
----------
----------------------------------
+5V
Drive supplied 5 volt source (output)
A+ / A -
Encoder A channel input
B + / B -
Encoder B channel input
Z + / Z -
Encoder Z channel input (not used)
The spindle drive can supply 5 volts of encoder power. The source is rated at 150 mA.
The encoder input uses a DS26LV32 differential line receiver. By default, the encoder feedback is
configured for receiving differential signals (single-ended configuration is available upon request). The
spindle drive accepts nominal encoder frequency of 5 MHz (maximum frequency of up to 10 MHz is
possible, but is system dependent). The Z channel is edge sensitive such that swapping Z + and Z - does
not change the behavior of the spindle drive.
B-6 Encoder Output
The encoder out signals are differential output signals. The encoder output pins are buffered representation
of the motor encoder feedback. The encoder output uses a 26C31 differential line driver.
Encoder channels A and B are available as pins AOut +, AOut -, BOut +, BOut - on P5.
B-7 Load Meter Output
This is an indication of the load on the motor. The output ranges from -10 volts to +10 volts and
has 16-bit resolution.
2.5 VDC = 100% absolute motor current (100% of continuous current)
3.75 VDC = 150% absolute motor current (150% of continuous current)
FROM DSP (SI)
FROM DSP (SCLK)
FROM DSP (D/A_0)
DAC8532
8
GND
Vdd
7
DIN
VREF
6
SCLK
VFB
5
SYNC
Vo
AGND
1
2
3
4
0.1uF
+3Vref
+3.3VA
1uF
AGND
3.01K
Vref
3.01K
3.01K
0.1uF
AGND
Vref
3.01K
20.0K
220pF
2 - TLE084
150
1
3 +
20.0K
0.0022uF
AGND
20.0K
220pF
6 - TLE084
150
7
5 +
20.0K
0.0022uF
AGND
LOAD METER + (RED)
TP1 (AN0)
LOAD METER - (BLACK)
TP7 (AGND)
AUX. ANALOG OUT
TP2 (AN1)
Load Meter Output Schematic
20
MANUAL # 9675-1035-000-A
www.glentek.com
Appendix B
B-8 PC Interface
The PC interface can be found at the HOST connector. A RS-232 interface is on the external of the
spindle drive. This port is the primary means of communication with the spindle drive for setup and control.
The port utilizes an RJ-45 type connector.
+3.3V
MAX3232EIDR
16
Vcc
C1+
2
V+
C1-
0.1uF
6
V-
RJ45SHLD
0.1uF
0.1uF
C2+
H1
10.0K
15
GND
C2-
1
14
T1OUT
T1IN
2
3
13
R1IN
R1OUT
4
TX232
5
7
T2OUT
T2IN
6
RX232
7
8
R2IN
R2OUT
8
H2
1
0.1uF
3
4
+3.3V
0.1uF
5
11
10.0K
12
10
9
FROM DSP (SCITX)
TO DSP (SCIRX)
RS-232 Input Schematic
The serial cable can be made or purchased for communicating with a PC by configuring a cable with
one end being a male RJ-45 plug and the other end being a DB-9 female connector.
Note: If required, Glentek can customize a serial port digital interface to adapt to your controller as
required to meet your protocols. We are currently doing this for high speed Ethernet ports.
MANUAL# 9675-1035-000-A
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Appendix B
www.glentek.com
B-9 Power Input and Motor Output
The signal names for power are listed below:
Pin Name
Description
--------------
----------------------------------
L1, L2, L3
Input - AC voltage (line 1, line 2, and line 3, respectively).
PE
Protective Earthing, Chassis GND.
B+
Output - DC BUS +.
B-
Output - DC BUS Return.
R1
Output - Brake/Regen resistor.
R2
Output - Brake/Regen resistor.
PHASE T1
Output - Motor phase T1.
PHASE T2
Output - Motor phase T2.
PHASE T3
Output - Motor phase T3.
L1, L2, and L3 are 3-phase, 208-240 VAC, 50/60 Hz AC inputs. The maximum inrush current at
power up is 510 A @ 240 VAC.
B+ and B- are unregulated DC BUS output (derived from 3-phase inputs). Total DC BUS capacitance
is 4,080 uF. BUS under-voltage trips nominally at 50 VDC ± 5%. BUS overvoltage trips nominally at
450 VDC ± 5%.
R1 and R2 are external Regen resistor (brake) outputs. Acceptable resistance range is 12 - 30 Ohms.
Regen turns on at 395 VDC ± 5%. Regen circuit uses a Ferraz Shawmut TRS10R time delay fuse.
Motor power is delivered at pins PHASE T1, T2 and T3. The motor power is Pulse Width
Modulated signals used to drive the motor.
It is recommended that the wire size for 3-phase AC inputs and motor outputs is 8 AWG (8.36 mm2)
or larger, 105°C rated PVC or better.
It is recommended that the wire size for DC BUS, and Brake/Regen resistor inputs is 10 AWG (5.26 mm²)
or larger, 105°C rated PVC or better.
Note: It is best not to connect the motor power pins until it is established that the logic section is working
and operational. This means that with the AC input pins connected, one should be able to communicate
with the spindle drive via a serial cable and the motor encoder feedback should be functioning properly.
22
MANUAL # 9675-1035-000-A
www.glentek.com
Appendix C
Appendix C - Application Software
C-1 MotionMaestro©
MotionMaestro© is Glentek's Windows based application software that you will need to setup and tune
the spindle drive. MotionMaestro© has many features that allow users to easily configure and tune the
entire Glentek digital product line. However, for the Fadal VMC replacement spindle drive most of the
setup has been done at the factory. The installer only needs go through a quick tuning procedure to
get the spindle drive up and running. But first, MotionMaestro needs to be installed.
C-2 Installing MotionMaestro©
C-2.1 Requirements
MotionMaestro© requires either Windows 95, Windows NT 4.0, Windows 98 SE, Windows 2000,
Windows ME, Windows XP, Windows 7, or the Windows 8 operating system. A computer with a serial
port or a USB port is also required. It is suggested that you have a minimum of 3 megabytes of
application program disk space available prior to installation.
C-2.2 MotionMaestro© v1.37
Only MotionMaestro© v1.37 or later will work with Glentek Inc. spindle drives, earlier versions are
not compatible.
C-2.3 Installation
The MotionMaestro© install disk is set up to utilize Install 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 complete, you will find a MotionMaestro© icon in the Windows
Start\Programs menu. The MotionMaestro© installation program is named Setup.exe. It is found in
the MotionMaestro© \disk1 directory of the distribution CD, included with the spindle drive. The
installation will also create a Glentek folder in the Program Files folder.
A MotionMaestro© 1.37 folder is created when 1.37 installed. You can have multiple versions
of MotionMaestro© installed, if you wish, and they will be placed into their own directories. When
MotionMaestro© is directed to establish communications with the spindle drive, the spindle drive is
queried for a model ID and Firmware version. MotionMaestro© will configure itself and select the
appropriate configuration files based on the spindle drive’s returned values.
MANUAL# 9675-1035-000-A
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Appendix C
www.glentek.com
C-3 Communicating With the Spindle Drive or VFD Drive
C-3.1 Serial Port
If your PC has a serial port (RS-232), you can connect to the spindle drive with Glentek cable (GTK #
GC2400-AL005AM-000). This cable has a female DB-9 (computer) on one end and an RJ-45 (spindle
drive) on the other.
Photo 6: Serial port on the spindle drive
Photo 7: GC2400-AL005AM-000
C-3.2 USB Port
If your PC has a USB port, a USB to serial port (RS-232) adapter (GTK # GC2410-001) is necessary
in addition to the cable above. Two known tested adapters are available: USBG-232 from USBGEAR
and US232R-10 from FUTURE TECHNOLOGY DEVICES INTERNATIONAL Ltd.
Photo 8: USBG-232
24
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
MANUAL# 9675-1035-000-A
25
Drawings & Diagrams
www.glentek.com
26
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
Vector Drive Connection Diagram Page 1
MANUAL# 9675-1035-000-A
27
Drawings & Diagrams
www.glentek.com
Vector Drive Connection Diagram Page 2
28
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
Sensored Vector Command Input Control Diagram
Analog Input
+
Input Analog
Analog Input
Analog to Digital
Scale
Velocity or
Deadband
Conversion
(IAS)
Current Command
(IAD)
+
32768
MM Set
MM Set
Input Analog
Offset
(IAO)
MM Set
Digital
Bidirectional
+
+
Communication
Serial Interface:
Port
CanOpen, etc
Current
Mode 1
To Current Control
Current
Limiter
Loop Diagram
Command
(IL)
Mode 1
Trajectory Slew-
(SVC)
Rate Generator
Amps / Sec or
MM Set
MM View
RPM / Sec
(AL/DL)
Velocity
Mode 2
To Velocity
Velocity
Limiter
Control Loop
Command
(VL)
Diagram
MM Set
(SVC)
MM Set
MM View
MANUAL# 9675-1035-000-A
29
Drawings & Diagrams
www.glentek.com
Sensored Vector Velocity Control Loop Diagram
Proportional
Gain
(GVP)
32768
+
Gain
Velocity
Mode 2
Mode 2
+
Velocity
Error
MM Set
Velocity Loop
Velocity
Command
Error Command
Command
Integer
to Current Loop
(SVC)
-
Settable
Integral Gain
(SVC)
+
(GVC)
View MM
Measured Motor
(GVI)
MM Set
Velocity with
32768
Derivative and
Tach Gain
MM Set
Gain Velocity
Derivative Gain
Raw Velocity
Scale in Counts
+
Tach Gain
per Interrupt
Velocity
Low Pass
Estimate
(GVD)
Power of 2
From Current
Feedback filter
(GVF)
settable
Control Loop
256
32768
20=1
Diagram
+
MM Set
28=256
MM Set
MM Set
(GVS)
MM Set
Scaled Velocity
±32767
(SVS)
MM View
30
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
Sensored Vector Current Control Loop Diagram
Mode 1
Current
Command
(SVC)
Mode 2
Velocity Loop
Error Comand
from Velocity
Control Loop
(SVC)
MM View
Loop Gain
Set at Unity Gain
(32767) when
System is Properly
Phased
(GL)
MM Set
Filter 1
Programmable
Biquad Filter
High Pass
Low Pass
Band Pass
Band Reject
MM Set
Filter 2
Programmable
Biquad Filter
High Pass
Low Pass
Band Pass
Band Reject
MM Set
Filter 3
Programmable
Biquad Filter
High Pass
Low Pass
Band Pass
Band Reject
MM Set
Current Limit
(IL)
32768
MM Set
Rotor Flux
Current
(VFI)
MM Set
Rotor Time
Constant
(VFT)
Velocity To
Velocity
Control Loop
Diagram
Field
Weakening
DQ Current
+
Command
(SID)
(SIQ)
-
MM View
Measured
Current
(SIA)
(STD)
(STQ)
Slip Estimator
Integral Gain
(GII)
32768
MM Set
Proportional
Gain
(GIP)
32768
MM Set
MM View
+
+
Commutation
Angle
MM View
Park
Transform
Station Frame to
Rotation Frame
conversion
Commutation
Window for Number
of Poles, Encoder
Count, etc
GLENTEK Custom
16bit High Band
Velocity Generator
GLENTEK
custom Space
Vector Modulator
conversion from
Station Frame to
3 phase
R
S T
Current
Sense
Current
Clarke
Sense
Transform
Current
3→2
Sense
Position
3
Data
Incremental
Induction
Encoder
Motor
07-12-2010
MANUAL# 9675-1035-000-A
31
www.glentek.com
32
MANUAL # 9675-1035-000-A
www.glentek.com
Drawings & Diagrams
208 Standard Street, El Segundo, California 90245, USA.
Telephone: (310) 322-3026; Fax: (310) 322-7709
www.glentek.com
e-mail: sales@glentek.com
MANUAL# 9675-1035-000-A
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