Glentek’s Gamma Series Digital PWM Servo Drives represents Glentek’s latest offering of higher performance multi-core DSP control of brushless (standard servo and high-speed spindle), brush type, rotary, linear, voice coil, and AC induction motors.
They offer expanded command and control modes, accept feedback from a wide range of devices and protocols, and include a programmable I/O. Both AC powered (stand alone and multi-axis) and DC powered (module) packages are available. These drives incorporate Field Oriented Control (FOC) and Space Vector Modulation (SVM) algorithms which provide optimum control that enable motors to run cooler and at higher velocities.
Set-up, tuning, and system diagnostics are accomplished using MotionMaestro (Glentek’s Windows-based software).
There are two versions of this drive available, 9GE models and 9G16 models. Refer to the table below for the main differences between the two versions.
| Feature | 9GE | 9G16 |
|---|---|---|
| EtherCAT | ✓ | |
| UL Recognized Component | ✓ | |
| Input Voltage Range (VDC) | 24-565 | 24-710 |
| Input Voltage Range (VAC) | 110-400 | 110-500 |
| Output Current Range (A) | 5-75 | 5-45 |
| Size | Smaller | Small |
| Price | $ | $$ |
The following table contains general features for all Gamma drives, except where noted.
| Command/Control Modes |
|---|
| +/-10 VDC for current (torque) or velocity (RPM) |
| Pulse (step) and direction |
| Encoder follower |
| CW/CCW (up/down mode) |
| External sine commutation (2-phase current mode) |
| RS-232 & RS-485 |
| PWM for current (torque) or velocity (RPM) in 50% duty cycle format (one-wire) or 100% duty cycle format (two-wire) |
| Indexer/Point-to-Point |
| Camming/Gearing |
| CANopen |
| EtherCAT (9GE only) |
| Feedback |
| Incremental quadrature encoder |
| Digital Hall sensors or commutation tracks from encoder |
| Absolute serial encoder (Biss, EnDat, and T-Format) |
| Analog Sin/Cos encoder |
| Resolver |
| Analog tachometer |
| I/O |
| Dedicated Digital Inputs: 2 STO optically isolated |
| Dedicated Digital Output: Brake (max 2 A @ 24 VDC) |
| Programmable Digital Inputs: 5 optically isolated, 6 Schmitt trigger, 2 differential |
| Programmable Digital Outputs: 3 MOSFETS (max 1.5A, 24 VDC), 2 optically isolated (max 10 mA, 24 VDC), relay (max 2 A, 30 VDC) |
| Analog Inputs: 2 differential (16 bit A/D) |
| Analog Outputs: 2 single ended, programmable (12 bit A/D) |
| Regulatory |
| Servo drives that are UL Recognized Components for the US and Canada are available (9G16 only) |
| Safety Disable |
| Safe Torque Off (STO) in accordance with IEC61800-5-2 (available upon request only) |
| Environmental Conditions |
| Storage Temperature: -40°C to 80°C |
| Standard Operating Temperature: refer to catalog, manual, or datasheet |
| Special Operating Temperature: refer to catalog, manual, or datasheet |
| Humidity: 5% to 95% relative humidity, non-condensing |
| Altitude: Up to 1000m without derating, derate current 10% per 1000m above 1000m |
| Performance | |
|---|---|
| FOC | All Gamma Series employ Field Oriented Control method which allows accurate control in both steady state or transient operation, and optimal orientation of the magnetic field. |
| Space Vector Modulation | Glentek’s advanced algorithms allow for maximum utilization of the DC bus voltage while generating minimum harmonic distortion of the currents in the winding of 3-phase AC motor. |
| Digital Current Loops | Current loop bandwidths up to 5 kHz. |
| Digitally Tuned | All parameters set digitally. No potentiometers to adjust. DSP control for the ultimate in high performance. |
| Parametric Filtering | Provides control engineers advanced filtering to eliminate unwanted system mechanical resonance. |
| Smart-Comm Initialization | Eliminates the need for Hall sensor or commutation tracks for many applications. |
| Auto Phase Finding | Plug and Play for all types of three phase brushless motors. The drives algorithm will automatically find and align the motor phases. |
| Auto Phase Advance | Glentek’s advanced algorithms incorporated in the Gamma Series drives, automatically provide phase advance, insuring that the current is delivered at the appropriate time, and provides the most efficient operation. |
| Sinusoidal Commutation | For the ultimate in efficiency and smooth motion. Commutates from almost any resolution linear or rotary encoder or Hall sensors only. |
| Fault protection | Short from output to output, short from output to ground, drive RMS over current, drive under/over voltage, drive over temperature, motor over temperature. |
| On-the-fly mode switching | This feature allows the drive to switch between any mode of operation on-the-fly. |
| Software configurable | Glentek’s Windows™ based MotionMaestro© software provides ease of set-up, monitoring and tuning with no previous programming experience required. This software is Windows™ 95/98/2000/XP, NT, Vista, 7, 8, and 10 compatible. |
| Silent operation | 25 kHz PWM standard. |
| Command/Control Modes | CANopen, EtherCAT (9GE only), +/-10V for current (torque) or velocity (RPM), pulse (step) and direction, encoder follower, external sine commutation (2-phase current mode), RS-232, RS-485, PWM for current (torque) or velocity (RPM), camming/gearing, Indexer/Point-to-Point. |
| Regulatory | |
| UL Recognized | Versions that are UL Recognized Components for the US and Canada are available. (9G16 only) |
| CE Marked | All servo drives are CE marked. |
| RoHS Compliant | All servo drives are RoHS compliant. |
| Connectivity | |
| CANopen | High-speed (up to 1 Mbits/s) CAN interface for communications between nodes in real-time control applications. The drive device profile is based on IEC 61800-7-201/301 (CiA 402). |
| EtherCAT | CANopen over EtherCAT, the drive device profile is based on IEC 61800-7-201 (CiA 402). |
| RS-232 or RS-485 | High speed (115.2K baud) serial communication interface for setup and tuning and diagnostics. Note: RS-485 is optional. |
| Feedback | |
| Encoder feedback | Accepts quadrature encoder signals up to 5 MHz (maximum frequency of up to 10 MHz is possible, but is system dependent). Absolute serial encoder (Biss, EnDat, and T-Format). Analog Sin/Cos encoder. |
| Encoder Output Divider | The encoder input signal can be divided by a user selectable integer for the encoder output signal. Note: Available upon request only. |
| Resolver feedback | For resolver feedback the drive creates a simulated encoder output with a typical resolution of 12 bits. |
| Tachometer feedback | Accepts analog signals from all types of tachometer feedback. |
| I/O | |
| Programmable Functions | Analog signal command, +/- limits, inhibit/enable, fault, reset, motor temperature, encoder and step & direction. |
| Input | |
| Wide operating voltage | 24-710 VDC for drive modules. All stand alone and multi axis versions can be ordered for operation from either 110-130 VAC, 208-240 VAC, 360-400 VAC, and 460-500 VAC main lines (single or 3-phase, 50/60 Hz). Note: Non-standard voltages can be ordered upon request. |
| Direct AC operation | The stand-alone units and multi-axis chassis include DC bus power supplies, optional cooling fans and optional regen clamp with dumping resistor. |
| External logic supply | 24-48 VDC, 600mA max @ 24 VDC powers all logic & encoder. This works as a “keep alive” for drives. |
| Build | |
| Complete isolation | Complete isolation between signal and power stage. |
| Non-volatile memory | All parameters are stored in non-volatile memory for reliable start up. Note: Available upon request, up to 16 different configurations can be stored in the drives’s non-volatile memory. |
| Relay outputs | Two pins provide an interface for the relay. They turn on when a desired condition occurs. |
| Status indicator | 7-segment display indicates drive status and diagnostics. |
| SMT construction | Provides ultra compact size, cost competitive package and high reliability. |
| Electrical Ratings |
|---|
| Input Voltage: 24-710 VDC for drive modules. 110-130 VAC, 208-240 VAC, 360-400 VAC, or 460-500 VAC main lines (single or three-phase, 50/60 Hz) for stand alone and multi-axis packages. Non-standard voltages available upon request. |
| Continuous Output Current: 4-75 A |
| Environmental Conditions |
| Storage Temperature: -40°C to 80°C |
| Standard Operating Temperature: Refer to catalog, datasheet, or manual |
| Special Operating Temperature: Refer to catalog, datasheet, or manual |
| Humidity: 5% to 95% relative humidity, non-condensing |
| Altitude: Up to 1000m without derating, derate current 10% per 1000m above 1000m |
