OPERATION & SERVICE MANUAL SMA5005 & SMA5015
Contents
1. 17 LI m S S Em T i ezz i G 0l E paz 00 01 Hie y ur ur e e e ur ur ur 4 y a a D SIXV ese Vv1 8 99 LTO XP BR ee v1 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 2f SMA5005 amp SMA5015 MANUAL woo yaqu9 6 MAMA 60LLZZE OLE 920 ze OLE 199 5 PIEPUE S 808 ALILNVND LINN O4JUOD UOLOW 404 suonnjos 1044581 dt d vsn vezos vo orisa 1 1 81 691 71300 NOLdRIOS3Q IVIVILVIA 597 4 XOdHddV 1HOI M x sd3ldlldNv 3NOTIVQNVIS YANIN SLOSVWS H3ASNHOJSNVSHL AlddNS YAMOd x SIIOA H OVATE CON SI10A 1 2IVASZ SI10A 1 IVASZ LOV SITOA H OVATE dyl S31N39 IVILAIN SALON ONS 3IVOS OL LON MIA OIMI3NOSI IVAOC NOILOANNOO AYVGONOOAS di 3901831 NO 2143 09 06 OL 2143 v9 aaa o IT E S3HONI NI 34V SNOISN3AIQ G313934S 3SIAN3HIO SSIINN 51015 30 HJIN3O tv s SNOILOANNOO SLOIS 331N39 09 9 8c Xv M3l NOLLOS 0S 9G Xt Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 8 MIIA 1NOY3 Boc x S E EA A A 9 NE 4 28 292. AS einjeleduie BuneJedo JOYl We pejind eq osje Ae sno90 U UA moj seob 10 02 uedo ino nej 9 G9 seyoeed xyuisjeau ay 2 peyqiqui si pue syne Jeyiduy eunyejeduie 1340 adwy OGA LZ Ye jeuiwou sdi aBeJJOA sapun sng c9 ye sdi JeAQ sng 09g duy 893 97 1exee1g V 01 18497 du 91u0J129 3 peadg vo Ino Juano eqgeduo Apg pue L mowej fpv dKiopgrpep3efus AL OPAOL lenue egiq s eubig indu aigeisnfpy sdwy sz 0 68 YOUMS jeuueu jddng abeyo OWA 68 0 6 21 021 Ss BOQ Adding q soinjeay pue suonporjiS ds we LLosasz sNouvoisio3as 10371438 01031vaan 8 wo vdnovi tinves asya v AN EEN EI L OS L Gol 315 YVANIT AdAL HSN L VL SLOSVINS LOV 19 dV1 INJO cov zov LOW JAIM OL LNdNI YMd OVASE ov oL OL LONI YMd 19 TIV4LNIN INJO OVASE OV GE dvi IN39 INANI OY E QNO SISSVHO EOV ZOv Lov 1 o O O cal i SOVLIOA HOIH NOLLAVO OS 1 Lnv4 TIVHhI3d0oNs3 3 3ALLOV NOLLIINOO sn inva 39v L10A sna 110 39V L10A H3AO dWALYAAO DINISLVSH 803 87 LHOHS 895 SH ON SL IVIWHON
3. Under Damped Signal Over Damped Signal Figure B Critically damped One Hook Overshoot Under and Over damped 8 Adjust the Compensation pot RV3 CCW until the waveform is critically damped or one hook overshoot Then proceed to step 10 9 If the desired waveform cannot be obtained by adjusting the Compensation pot back off the Tach Gain pot CCW a few turns and repeat step 8 10 Do not adjust the Tach Gain or Compensation for the rest of the calibration procedure 11 With battery box still connected at J1 1 and J1 4 for single ended input or if your system uses the Differential input move battery box to J1 1 and J1 2 and remove micro shunt at J3 con nector set battery box for a known DC voltage Adjust the Signal Gain pot RV1 to obtain the desired motor velocity 12 1 the motor is rotating in the wrong direction for a given input polarity remove the power and reverse both the motor leads and the tach leads 13 Remove the battery box and repeat step 3 14 Calibration complete Reconnect signal wires Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL C Calibration of the Current Mode Amplifier SMA5005 Series The amplifier in this configuration receives an analog bi polar input command which is proportional to the required motor current motor torque The following potentiometers pots will be set during calibration Note RV6 is a single t
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5. 310 322 3026 16 SMA5005 amp SMA5015 MANUAL THIS PAGE IS INTENTIONALLY LEFT BLANK Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL 7 3009 NOLLVENDIZFNOO 30 133HS q HAV 3713 E g1vOS MALNS19 NOISSIN I3d N3 LLIMAA Old 40 die 000 VEO 248 LNOHLIM 3ISOdHNd H3HLO HO ONISDLLOVADNVIN 404 a RE E x ed3HLO OL GHSOTOSIC SLNSWNOOd H3HLO OL GSYYSASNVYL g 000 1430 L S LOS VI G LOSVIA S qaonaoesddze 38 LON TIVHS NOLLVIAYJOANI AHV LSIHdOHd SIHL DNI YIGIANN ONIMYYA TID0MN 31218 M31N319 dO ALH3dOMd SAISNIOXGE JHL SI Q3LVNIOIHO SVM LNSWNOOd SIHL NIHLIM QSNIV LNOO NOILVAYOSNI JHL LENS L YL SLOSVIAS NOILVTIVLSNI eon LINVPS N SOF gt YVINONV 31111 SNIMYHOG H S000 T XXX uoo oejuo D WA uoow suonnjos LINVPS VINDVL N LOOF XX IvWIO30 60 Zcc OLE 920 SCE OLE y N 7 A8 SMOTIOA SV S3ONV33101 YSN 69206 vo opunfes 3 3 1 3 SIHONI NI SNOISN3IMICI TVAO3ddV QaldIO3dS ASIMYSAHLO SS3 ND JOOS PAEPURIS 802 NI 0 6 LHOISH g Z010 SS 80 N d X8 OW 09cC0H3 N d e1ue o 1916 10 00 Nid XelowWw 91318 P3 Nid 10590005 f Dum ey MXHY Duisuepuoo uou 9566 01 6 ipiuinH 09 012 OF eJnjeJeduie
6. ON X30XO X310W 1001 9NIdWiHO 3SN 0 YO INN 9Z 0 9MVCZ HOIO3NNOO I320S X310W OL ONIBIM TWNOIS QN3AWOO3N Z XINO 3SVHd 319NIS SI MH3MOd NV4 HOIO3NNOO INdNI 40 SASVHd 339HD OV Z Ov V Ow YO 3SvHd 319NIS Z 2v V Ov OL SI INANI H3MOd OV I ALON o m 22 SIXV 1 SIXV Z SIXV rezz i G Ol oez 00 01 D D shvs d L SIXV Z SIXV 8 9 9 82Z 00 6 10 yz 5 76 S 9 26 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL 7 3009 NOILVYENSI4 NOD 120 y 133Hs owav ooo ecoz socs 3WVN314 ER 000 9 0 S00S Vb SOOSVINS YIJANN SNIMYSG 1300W M31N319 JO ALXJdO d SAISMIOXE 3HL SI ONY Ag SYMA 1N3W020G SIHL NIH NYLNOO NOLLINSIO NI IHL 1193023 W WOWIXVW SIN v Vi S008 VINS NOILVTIVLSNI GJM m 31111 ONIMYSO SOO OF XXX 0400 uonow 404 suonnjos vTIVHLIN LOOF XX IVINIO3O 6022 Z OVE Xv3 9c0 cet OLE SMOTIOASY 3HY 5995101 WSN SPZ06 opunbes 3 gt l 3 L N 3 1 lv SNOISN3HIICI 19915 PIEPURIS 802 J3HLO SSIINN 8LbL Y812 2 2Z Nid Xelow SLINLPOPS Nid 3 lu lo Jojo9uuo eubis 9 82 26 LL N d Xiueoud 60ALp f3 N d 3 luelo Joj euuo indu Od pue Jojo S40 99uuo2 bune A
7. GOALPZIS Nid X94919 JOPeULOD 9q pue Jojo 40 99uU09 bune Z AL0 L SOOSVINS sempojy Joidwy sed Bujooo peouo uy juetquiv 9 97 v 079 jueun snonuguo OVAOS Xew 04 paenan sna 2 penueq ZH 09 09 eseug ajBuls OWA DEl Ob eDeyoA Ndu ue s seyd 8814 10 AUIS OWA ES 2 eBeyoA ndul oy SoJnjeoJ pue zre v aaay aono oo nondmossa O O ae Po AMOLSIHNOISIA3H NOISIA33 L MEE 69 m azl d4 z 1 S v c m Bt 32 Q AXIS 1 3 00 p B mo m e AXIS 2 SO m a Sm DC OUTPUT lt O A B LNdNI OV Tm m gt m e 32 e Dae O JE 299 O x 7 gt gt A U D mm 2 C T gt un 0 a L O gt Zz o O _ 2 D C 4 NI NI ZONVYVATS LHOIBH NIN S3HONI 8 MOTI 8 LINA 3HL NOLIWILINGA YIdOYA J38NSNA Ol SY31JNIdAV AHL 30 dOl SONA H108 IV 32VdS dO 9 2 dO NIN V NIVLNIVA L 3 3 30 SifidinO 3HL GNNOND H3A3N 9 43138 MO Q3lVM 2 801 M39MVI HO WN 1271 OMV9L ONIBIM SINANI N3MOd QN3 WOO3M S H3ll38 NO O3lvH 0 601 Y398V1 YO NN LE L OMV9L ONRIM SIndlinO YOLOW QN3 WOO3B v WN9IS QNVAWOO 304 a18vo QadmiHs ASN 2292249 9810 10 11
8. H indlno SiGe PSZ AO0 0L ZY WOOL cM 6 b 301 In e n addw azonvHo ziva oo3 Ag NOD 1 OP OLOBNN aga AYJOLSIH NOISIA3SH Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 19 SMA5005 amp SMA5015 MANUAL 7 3009 NOLLVSINDIANOO eso sas OMO E 000 PE01 SL09 WYN Lig a1vos MSLNS19 WOH NOISSIN I3d NAL 3S0dHNd H3HLO ANY HO ONIENLOVANNVI 404 E SUSHLO O1 GSSOTOSIC SLNANNOOd H3HIO OL O3SSSHSNVeHLL g 000 veo S LOS Vi S LOSVINS 38 LON TIVHS NOLLVINHOJNI AYVLIAOY O SIHL Aad YagWNN ONIMYYA T3dON 3215 SLNG IO dO 3AISTTTOXS 3H1 SI Ad OISIVNIOIHO SVM LN3IATIOOCI SIHL NIHLIM GANIVLNOO NOLLVINSOJNI SHL A IddNS YIMOdA NOILVTIVLSNI LINVPS W 2 G S Scl HSINIJ OLLVIN3HOS L VL SLOSVIAS AIR 31111 ONIMVHG S00 0 XXX uoo ASUS wim OLJUOD 105 suosinjos LINVPS Vdf19v L IN 00 XX BOL ZZE OLE Xv 9707760 Aa SMOTIOSSV aav SSONVYSTOL te YSN S206 VO opunfes El 3 1 N 1 S3HONI SNOISN3INICI JENS PIepuels 802 ava WAOUddY 3SIMEZHLO ssaTNn Alddfls Y4IMOd NV4 AlddNsS d3MOd JOVLIOA Q3sIMOSVH dd At xovg s c ualandNv OL N3389 WOO o di DJALI OL X m
9. 4 Axis Chassis S Small Motor less than 3 in diameter L Large Motor 3 or greater in diameter Amplifier Configuration Code See configuration algorithm below Only Active High is available Type B or C SMA5015 bbb 1A 1 Amplifier Model Number A Stand Alone Amplifier Configuration Code See configuration algorithm below Inhibit Reset Limit Configuration Input is Input State Binary Code nternally Pulled Up Active When Low i Logic Input Configuration for Inhibit i 00 Type A Requires grounding of input to disable the amplifier nternally Pulled Up Type B D Internally Pulled Down Type C Requires grounding of input to enable the amplifier B i 11 nternally Pulled Down Active When High O n Type D Requires a positive voltage at input to enable the amplifier Amplifier Configuration Code Limit O Active Low 1 High Differential or Single ended input Limit O Pulled Up 1 Down O Single ended Inhibit O Active Low 1 High 1 Differential Inhibit O Pulled Up 1 Down Velocity or Current Mode Reset 0 Active Low 1 High O Velocity 1 Current Reset 0 Pulled Up 1 Down Input Logic Pull Up Voltage Select 15V 5V 15V 1 5V SMA5015 only Important Notes SMA5005 is not field config urable except signal input 4 Bit Binary to Hexadecimal Conversion 0000 0 1000 8 0001 71 1001 9 0010 2 1010 A SMA5015 logic inputs are hard wired ei
10. DC power supply one fan and up to two SMA5005 amplifier modules The 4 axis baseplate assembly contains one AC to DC power supply two fan and up to four SMA5005 am plifier modules For multi axis applications it is always recommended to use three phases power transformers for minimizing ripple voltage during high current demand scenarios where all axis motors are running at full load simultaneously Glentek offers various isolated three phases power transformers The SMA5015 series amplifier is a stand alone style amplifier meaning that the unregulated dual polarity power supply is mounted within the amplifier enclosure Glentek offers 1 4KVA and 2 0KVA center tapped power transformers for the SMA5015 series amplifiers 2 Typical continuous internal rating of the amplifiers running at normal room conditions is SMA5005 series 250 Watts continuous SMA5015 series 300 Watts continuous For most applications the above heat sinking is adequate However if you have a usage mode where the heat sink temperature becomes excessive please contact Glentek and we can furnish a larger heat sink with greater air flow for your application 3 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL Use the following relationships to calculate amplifier dissipation 1 Pd Im x Vb watts Where Pd Total watts delivered from bus Im Motor current Vb Bus voltage 2 Pm Im x Vm
11. In this case stability is the limiting factor At no time should the servo loop be allowed to be unstable Amplifiers are normally shipped with the Tach Gain RV4 set at 100 This is a good place to start If you are unsure of where the Tach Gain is set turn the Tach Gain RV4 fully CW up to 10 turns Connect oscilloscope to J1 5 TACH IN and J1 4 is common Set battery box for a DC signal output to obtain approximately 400RPM The RPM may be set by measuring the tach voltage at J1 5 e g 2 8VDC for a 7V KRPM tach is 400RPM Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 12 SMA5005 amp SMA5015 MANUAL 6 Pulse the input and compare the waveform with figure C Velocity APM Velocity APM A j Critically Damped Signal 1 Hook Overshoot Signal Velocity HP M Velocity HP M a Under Damped Signal Over Damped Signal Figure C Critically damped One Hook Overshoot Under and Over damped 7 Adjust the Compensation pot RV5 CCW until the waveform is critically damped or one hook overshoot Then proceed to step 9 8 If the desired waveform cannot be obtained by adjusting the Compensation pot back off the Tach Gain pot CCW a few turns and repeat step 7 9 Do not adjust the Tach Gain or Compensation for the rest of the calibration procedure 10 With battery box still connected at J1 3 and J1 4 for single ended input or if your system uses the Differenti
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13. The velocity error is used to command motor current in the inner servo loop The current loop summing amplifier compares the command current velocity error with the actual current in the motor and produces an error voltage proportional to the difference between the actual and commanded current Finally the current error signal is used to produce an output to drive the motor The velocity loop may be bypassed and an external current command fed directly to the current loop In this case the external command signal controls the torque of the motor rather than the velocity This is known as current mode operation o eee 1 CT mee ee HIS ecu eee 7 i VELOCITY i CURREN CURRENT ERROR SIGNAL i LOOP LOOP CURRENT AMPLIFIER N SERVO T di MOTOR l C en e S 04 I 1 CU ENI VELOCITY a VELOCITY 1 ERROR SIGNAL I CURRENT FEEDBACK I IE 1 L I VELOCITY FEEDBACK SIGNAL TACHOMETER 1 J Figure A Velocity mode servo loop for a brush type motor Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 Ergonomic Design SMT construction Bandwidth Linear output stage Multimode operation Operating Voltage Basic versions F
14. system V5 Compensation COMP Used in conjunction with tach gain to set the system bandwidth V6 Current Limit I LIMIT Sets the maximum motor current Shipped set CCW min current PROCEDURE 1 Apply main power and fan power Visually confirm an 0 on the 7 segment display Depend ing on the configuration of the Inhibit Reset and Limits it may be necessary to make appro priate connections to those terminals before the amplifier will be enabled and energize the mo tor Slowly turn the Loop Gain RV7 CW Motor should be stopped or turning slowly If the motor starts running away remove the power reverse the tach leads and retest oet Balance RV3 for zero motor rotation Connect oscilloscope to J1 6 MTR and battery box to J1 3 J1 4 is common for both The voltage on J1 6 is a function of motor current 1V 10A While applying a step input voltage adjust Current Limit RV6 for desired peak current The purpose of the following procedure is to set the system bandwidth to obtain a critically damped response or a one hook overshoot response with the maximum possible Tach Gain There are many possible settings of Tach Gain and Compensation which will yield the desired waveform The optimum setting will occur when Tach Gain is as CW as possible and Compensation is as CCW as possible However the servo loop may become unstable the motor oscillates or hunts with a very low near CCW setting of Compensation
15. watts Where Pm Total power watts dissipated in motor Vm Motor voltage 3 Pa lm x Vb Im x Vm Where Pa Total watts dissipated at amplifier From the above relationship it can be surmised that the worst case dissipation occurs when the amplifier has to deliver a high continuous current at a low motor speed e less motor BEMF and more current For some applications a power resistor can be added in series with the motor thus shifting some of the power dissipation from the amplifier to the resistor Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL TECHNICAL SPECIFICATIONS Output e SMA5005 15A peak 5A continuous forced air cooling required Note Large motor and Small motor versions have different velocity loop compensation e SMA5015 25 peak 10A continuous integral fan cooling Input e SMA5005 24 75VDC SMA5015 17 0 17VAC to 39 0 39VAC 24 to 55VDC Bipolar Input Integral forced air fan cooling multi axis SMA5005 and SMA5015 only Analog command signals differential amp single ended adjustable gain Manual reset Pushbutton switch SMA5015 only Reset SMA5005 pull up pull down active high only SMA5015 pull up pull down active high active low Inhibit Same as Reset e Limits Same as Reset Output Connections e Motor 8 MTR e Fault out SMA5005 Optically isolated can sink up to 50 mA active high only SMA5015 Op
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21. OPERATION amp SERVICE MANUAL SMA5005 SMA5015 H Bridge Linear Servo Amplifiers Congratulations You Cared G LENTEK Enough to Buy the Very Best Solutions for Motion Control SMA5005 amp SMA5015 MANUAL TABLE OF CONTENTS Introduction Features Application Note Technical Specifications Model Numbering Startup and Calibration A Initial Startup B Calibration of the Velocity Mode Amplifier SMA5005 Series Calibration of the Current Mode Amplifier SMA5005 Series Calibration Setup Record SMA5005 Series Calibration of the Velocity Mode Amplifier SMA5015 Series Calibration of the Current Mode Amplifier SMA5015 Series Calibration Setup Record SMA5015 Series APPENDIX Drawing SMA5015 Installation Drawing SMA5015 Electrical Functional Block Schematic Drawing SMA5015 Schematic Installation Power Supply Drawing SMA5015 Printed Circuit Board Assembly Amplifier Drawing SMA5015 Printed Circuit Board Assembly Power Supply Drawing SMA50095 Installation Drawing SMA5005 Schematic Installation Drawing SMA50065 Printed Circuit Board Assembly Amplifier Drawing SMA5005 2A 2 2 Axis Baseplate Assembly Drawing SMA5005 2A 4 4 Axis Baseplate Assembly Drawing T657TB Power Transformer Drawing T693TB Power Transformer Page 1 Page 2 Page 3 Page 5 Page 6 Page 7 Page 7 Page 8 Page 10 Page 11 Page 12 Page 14 Page 15 Page 18 Page 19 Page 20 Page 21 Pag
22. REVISION HISTORY EI E nare CHANGED neo imum a foro rra Ry SMA5005 amp SMA5015 MANUAL FALLS ea Jal E aH lt lt x Ll L un an LA 3 E E E E e zi zl al a 2 gt o En NIME O lt 3 3 r3 e ZO C41 m O A E 9 2 E e E a z 4 C D gt 4 Lj at Dc CO UO FRONT VIEW o m Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 TRANSFORMER 10 2 0 KWA NOTES ri 120 246 Sec 34 25 0 25 34 D a sae v P 1 MOUNTING USE 1 4 HARDWARE 2 WEIGHT APPROX 38LB3 6 Digital PWM Brushless Servo Amplifiers e PWM Pulse Width Modulated Brushless servo amplifiers to 20KW Analog Brush Type Servo Amplifiers e Linear Brush type servo amplifiers to 2 6KW e PWM Pulse Width Modulated Brush type servo amplifiers to 28KW Analog Brushless Servo Amplifiers e Linear Brushless servo amplifiers to 3 5KW PWM Pulse Width Modulated Brushless servo amplifiers to 51KW Permanent Magnet DC Brush Type Servo Motors e Continuous Torques to 335 in Ib e Peak Torques to 2100 in Ib Permanent Magnet DC Brushless Servo Motors e Continuous Torques to 1100 in Ib e Peak Torques to 2200 in Ib MANUAL 5005 2040 000 GLENTEK REVISION D Solutions for Mo
23. SUPPLY CIRCUIT BOARD ASSEMBLY Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL g 7 3009 NOILVYENDIANOD cio y 1aams SMG 8 000 Pe0Z 9009 awvN ana avos 000 7 02 S00S YIGINNN ONIMYYA 4 OAYAS L SOOSVWS NOILVTIVLSNI LU009 y9 u9 WWwA BOLL CZE OLE YZOE TE OLE YSN 69206 vo opunfes 3 JOSS piepuejs goc 31111 ONIMV HG 041u02 uonow suoinnjos 6 1 9 91 48 N d ueussng 10008043 N d 38 lu9l9 1SV4 0 29 N d uewssng 01008033 Nid 4 U919 LS v3 VOL snj 7T3GON 32215 M21N379 NOISSIINHSd N3 LLIMAA Old LNOHLIM 3ISOdHNd H3HLO HO ONIENLOVANNV 404 SUAHLO OL GSSOTOSIC SLNSWNOOT YSHLO OL O3SSSHSNVeHLL GaONGONdaY 38 LON TIVHS NOLLVINSHONI AYVLIUAO YO SIHL DNI MALNA19 dO ALd3dO8d SAISNIOXA 3H1 SI Ad OI3LVNIOIHO SVM LNSWNOOd SIHL NIHLIM GANIVLNOO NOLLVINSOJNI 3H L VINVPZZ KINVPZZ LINYFZZ VWdNOVL IN AS diva lVAOHddV Wn f TESTE 200 gt YVINONV S000 xxx 1070 Xx uwvWioaad SMOTIOA SV 38 VW SSONV3H3 TOL S3HONI NI SNOISN3INIO 991512345 ASIMYSHLO SS3 INN asny 13 esn3 Sng ndul oq 8LVL PGLZ ZL 2Z Nid X9IOW SLWLPOPA Nid 9 82 Z6 N d Xueoug 60ALp 3 N d Y89919 5103994407 bune 9 66 0 966 9 08
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27. While applying a step input voltage adjust Current Limit RV5 for desired peak current The purpose of the following procedure is to set the system bandwidth to obtain a critically damped response or a one hook overshoot response with the maximum possible Tach Gain There are many possible settings of Tach Gain and Compensation which will yield the desired waveform The optimum setting will occur when Tach Gain is as CW as possible and Compensation is as CCW as possible However the servo loop may become unstable the motor oscillates or hunts with a very low near CCW setting of Compensation In this case stability is the limiting factor At no time should the servo loop be allowed to be unstable Amplifiers are normally shipped with the Tach Gain RV4 set at 100 This is a good place to start If you are unsure of where the Tach Gain is set turn the Tach Gain RV4 fully CW up to 10 turns 6 Connect oscilloscope to J1 3 TACH IN and J1 4 is common Set battery box for a DC signal output to obtain approximately 400RPM The RPM may be set by measuring the tach voltage at J1 3 e g 2 8VDC for a 7V KRPM tach is 400RPM Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 8 SMA5005 amp SMA5015 MANUAL 7 Pulse the input and compare the waveform with figure B Velocity HPM Velocity HPM A Critically Damped Signal 1 Hook Overshoot Signal Velocity APM Velocity
28. al input move battery box to J1 1 and J1 2 set battery box for a known DC voltage Adjust the Aux Gain pot RV2 or RV1 for differential input to obtain the desired motor velocity 11 1 the motor is rotating in the wrong direction for a given input polarity remove the power and reverse both the motor leads and the tach leads 12 Remove the battery box and repeat step 3 13 Calibration complete Reconnect signal wires 13 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL F Calibration of the Current Mode Amplifier SMA5015 Series The amplifier in this configuration receives an analog bi polar input command which is proportional to the required motor current motor torque The following potentiometers pots will be set during calibration Note is a single turn pot and RV1 RV6 RV8 RV10 are 10 turn pots RV1 Differential Gain SIG Sets the input voltage to velocity ratio for differential signal input V4 Tach Gain TACH Sets the DC tachometer gain V7 Loop Gain Used to shut off uncalibrated amplifiers When the loop gain is fully LOOP GAIN CCW no current is delivered to the motor V2 Signal Gain AUX Sets the input voltage to velocity ratio for single ended signal input Balance BAL Used to null any offset in system Compensation COMP Used in conjunction with tach gain to set the system bandwidth RV6 Current Limit I LIMIT Sets the m
29. ault protection Status indicator Dedicated inputs Dedicated outputs Manual reset Current limit Transformer External fault reset CE compliant SMA5005 amp SMA5015 MANUAL FEATURES Easy access to connections adjustments and test points Provides ultra compact size cost competitive package and high reli ability All servo amplifiers have a nominal 10 kHz current loop bandwidth which varies with the motor inductance Provides high bandwidth low noise and zero crossover distortion Velocity mode tachometer feedback Current mode torque and volt age mode SMA5015 only Operating input voltage range 17 0 17 to 39 0 39 VAC for standard SMA5015 stand alone higher voltages available 24 75 VDC for stan dard SMA5005 module Velocity and current modes SMA5015 is field configurable Short from output to output short from output to ground amplifier RMS over current amplifier under over voltage SMA5015 only and amplifier over temperature 7 segment LED display indicates amplifier status on the SMA5015 and LEDs indicate status on the SMA5005 command signals limits inhibit reset and fault fault out and motor current monitor A push button reset is available to reset a fault SMA5015 only Peak motor current is adjustable T657TB and T693TB are available for the SMA5015 see drawings in Appendix for more information An input is provided to reset the amplifier in the event of a fault All s
30. aximum motor current Shipped set CCW min current Note RV9 and RV10 are factory set and should not be adjusted Adjusting these pots voids warranty PROCEDURE 1 Apply the main power and fan power Visually confirm an on the display Depending on the configuration of the Inhibit Reset and Limits it may be necessary to make appropriate connections to those terminals before the amplifier will be enabled and energize the motor Slowly turn the Loop Gain RV7 pot CW The Motor should be stopped or turning slowly Set the Balance RV3 for OV at J1 6 MTR 1 Connect an oscilloscope to J1 6 MTR and a battery box J1 3 J1 4 is common for both The voltage on J1 6 is a function of motor current 1V 10A While applying a step input voltage adjust the Current Limit RV6 for the desired peak current If the desired peak current cannot be achieved with the Current Limit pot full CW increase either the input signal Aux Gain RV2 for single ended input or Differential Gain RV1 for differential input With the battery box still connected at J1 3 and J1 4 for single ended input or if your system uses the Differential input move battery box to J1 1 and J1 2 set the battery box for a known DC voltage Apply input signal pulses and adjust the AUX signal gain RV2 pot RV1 for differential input to obtain the desired current gain of the amplifier If the motor is rotating in the wrong direction fo
31. e 22 Page 23 Page 24 Page 25 Page 26 Page 27 Page 28 Page 29 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL INTRODUCTION The Glentek SMA5005 and SMA5015 H bridge linear servo amplifiers provide the optimum solu tion for applications which require high current loop bandwidth low radiated electrical noise and low crossover distortion The SMA5015 amplifier incorporates our latest generation ISO BIAS cur rent sense technology which provide one of the lowest drift linear amplifiers on the market today These amplifiers are constructed using surface mount technology and incorporate the latest in heat transfer technology which make them one of the most powerful amplifiers for a given form factor Typical applications are brushed DC permanent magnet motors and voice coil motors The SMA5005 amp SMA5015 are configurable and can operate in the following modes 1 Velocity mode for motors with tachometer feedback 2 Current mode for torque mode operation 3 Voltage mode SMA5015 only special order A basic velocity mode servo loop for a brush type motor is shown in figure A An external controller commands a given velocity RPM The velocity loop summing amplifier compares this command with the actual motor velocity supplied by a DC tachometer on the motor shaft and produces an error voltage proportional to the difference between the actual and commanded velocity
32. en collector Pulled Up 5V active high or active low Bandwidth e 10 kHz maximum and varies with motor inductance Status Indicator e SMA5005 Green Run LED Red Inhibit LED Red Fault LED e SMA5015 7 segment LED display indicates amplifier status and diagnostics Mechanical e SMA5005 module Height 7 13 Width 2 23 Depth 5 69 e SMA5005 2 Axis Height 10 75 Width 9 75 Depth 6 93 e SMA5005 4 Axis Height 10 75 Width 14 90 Depth 6 93 e SMA5015 stand alone Height 14 50 Width 4 25 Depth 9 00 Environmental e Operating temperature 0 to 55 C e Storage temperature 40 to 80 C e Humidity 5 95 relative non condensing Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL MODEL NUMBERING The information below should be used to order your amplifier pre configured for your application You may wish to have a Glentek application engineer confirm your configuration because field configuration options are limited SMA5005 x bbb 1 Amplifier Model Number K Single Module Velocity Loop Compensation Amplifier Configuration Code S Small Motor less than 3 in diameter See configuration algorithm below L Large Motor 3 or greater in diameter Only Active High is available Type B or C SMA5005 x bbb eA g Amplifier Model Number L Muiti Axis 1 to 4 Axes Velocity Loop Compensation 2 or
33. er TP2 to common ohms Tach Gain pot wiper TP3 to common ohms Compensation pot wiper TP4 to common ohms Current Limit pot wiper TP5 to common ohms Note Tach voltage is measured at J1 3 Common for all measurements is at J1 4 Date data taken Serial number S N Model number SMA5005 Note any changes to components or any special features in the space below 11 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL E Calibration of the Velocity Mode Amplifier SMA5015 Series The amplifier in this configuration receives an analog bi polar input command which is proportional to the motor velocity The amplifier receives velocity feedback from a tachometer which is usually mounted to the rear of the motor The following pots will be set during calibration Note RV7 is a single turn pot and RV1 RV6 RV8 RV10 are 10 turn pots Note RV9 and RV10 are factory set and should not be adjusted Adjusting these pots voids warranty RV Differential Gain SIG Sets the input voltage to velocity ratio for differential signal input Tach Gain TACH Sets the DC tachometer gain Loop Gain Used to shut off uncalibrated amplifiers When the loop gain is fully LOOP GAIN CCW no current is delivered to the motor RV2 Signal Gain AUX Sets the input voltage to velocity ratio for single ended signal input Balance BAL Used to null any offset in
34. ervo amplifiers are CE marked Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 2 SMA5005 amp SMA5015 MANUAL APPLICATION NOTE POWER DISSIPATION CONSIDERATIONS AND CALCULATIONS WHEN USING LINEAR DC SERVO AMPLIFIERS When selecting a linear amplifier the following ratings of the amplifier should be known in order to properly size the amplifier to your system requirements 1 The total wattage peak current and voltage rating of all the semiconductors installed on the heat sink of the output power stage of the amplifier Output transistor ratings for the SMA5005 series are Voltage 250 Volts Peak current 60 A Continuous current 30 A Normally shipped with 12 20A limit Total wattage 25 deg C 1200 Watts Output transistor ratings for the SMA5015 series are Voltage 200 Volts Peak current 240 A Continuous current 60 A Normally shipped with 20 50A limit Total wattage 25 deg C 4480 Watts The SMA5005 series amplifier is a module style amplifier requiring an external unregulated single polarity DC power supply Glentek offers various unregulated power supplies for the SMA5005 series amplifiers The SMA5005 series amplifier is also available in multi axis configurations That is there are two basic baseplate assemblies namely 2 axis and 4 axis baseplate assemblies that have built in AC to DC power supplies un regulated and cooling fans The 2 axis baseplate assembly contains one AC to
35. ltage adjust the Current Limit RV5 for the desired peak current If the desired peak current cannot be achieved with the Current Limit pot full CW increase the input Signal Gain RV1 by turning in the CW direction 5 With the battery box still connected at J1 1 and J1 4 for single ended input or if your system uses the Differential input move battery box to J1 1 and J1 2 and remove micro shunt at J3 connector set the battery box for a known DC voltage Apply xinput signal pulses and adjust the Signal Gain pot RV1 to obtain the desired current gain of the amplifier 6 If the motor is rotating in the wrong direction for a given input polarity remove the power and reverse the motor leads 7 Remove the battery box and repeat step 2 8 Calibration complete Reconnect signal wires Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 10 SMA5005 amp SMA5015 MANUAL D Calibration Setup Record SMA5005 Series It is good practice to keep a record of all the pot settings Doing so will facilitate calibration on future units and repair on this unit Although not a substitute for the calibration procedure it will at least get you in the ballpark Remove the power and allow all capacitors to discharge before taking measurements Note The balance pot should not be measured in this fashion set per step 3 in the calibration procedure Pot Dip Switches AMP1 AMP2 AMP3 AMP4 Signal Gain pot wip
36. priate calibration procedure 1 Check for any loose or damaged components 2 Check that all connections are tight 3 Be sure that the motor mechanism is clear of obstructions If the mechanism has limited motion e g a lead screw set the mechanism to mid position 4 Disconnect the signal and auxiliary inputs 5 Be sure the Loop Gain pot s are fully CCW RV6 for SMA5005 and RV4 for SMA5015 This will prevent the motor from running away in velocity mode when power is applied 6 Check for the correct AC voltage before connecting to SMA5005 multi axis or SMA5015 amplifiers The DC Bus amplifier supply voltage will be 1 4 times greater than the AC value If the voltage is correct remove power and connect AC source to amplifier inputs For SMA5005 module amplifier check for the correct DC voltage before connecting to the amplifier power input 7 Work on only one amplifier axis at a time for SMA5005 multi axis amplifiers 7 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL B Calibration of the Velocity Mode Amplifier SMA5005 Series The amplifier in this configuration receives an analog bi polar input command which is proportional to the motor velocity The amplifier receives velocity feedback from a tachometer which is usually mounted to the rear of the motor The following pots will be set during calibration Note RV6 is a single turn pot and RV1 RV5 are 10
37. r a given input polarity remove the power and reverse the motor leads Remove the battery box and repeat step 2 Calibration complete Reconnect signal wires Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 14 SMA5005 amp SMA5015 MANUAL G Calibration Setup Record SMA5015 Series It is good practice to keep a record of all the pot settings Doing so will facilitate calibration on future units and repair on this unit Although not a substitute for the calibration procedure it will at least get you in the ballpark Remove the power and allow all capacitors to discharge before taking measurements Note The balance pot should not be measured in this fashion set per step the calibration procedure Pot Dip Switches Amplifier Differential Gain pot wiper TP1 to common ohms Signal Gain pot wiper TP2 to common ohms Compensation pot wiper TP5 to common ohms Current Limit pot wiper TP6 to common ohms Tach Gain pot wiper TP4 to common ohms Note Tach voltage is measured at J1 5 Common for all measurements is at J1 4 Date data taken Serial number S N Model number SMA5015 Note any changes to components or any special features in the space below 15 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA5005 amp SMA5015 MANUAL APPENDIX Glentek Inc 208 Standard Street El Segundo California 90245 U S A
38. ther pulled up or pulled down at the factory 0011 3 1011 B 0100 4 1100 C 0101 5 1101 D 0110 6 1110 E 0111 7 1111 F Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 6 SMA5005 amp SMA5015 MANUAL START UP AND CALIBRATION This section contains the procedure required for initial start up and amplifier calibration The SMA5005 and SMA5105 series amplifiers can be configured to run in velocity mode x x and current mode y y Required Equipment Oscilloscope voltmeter amp battery box The battery box serves as a step input voltage command applying and removing a flashlight battery can also be used for this function Glentek sells a battery box BB 700 which is ideal for this function Refer to the technical specifications page and the drawings in the appendix for the information needed to supply the correct power and to wire the model you are starting up An isolation transformer is needed for the multi axis SMA5005 and SMA5015 An isolated power supply unregulated is OK providing the necessary voltage is required for the SMA5005 module Glentek can provide appropriate transformers and power supplies Consult a Glentek applications engineer or sales person for assistance A Initial Start Up When applying power to start up your amplifier system for the first time we recommend you follow this procedure If you have already gone through this procedure you can skip to the appro
39. tion Control DATE 07 NOV 201 3 208 Standard Street El Segundo California 90245 USA Telephone 310 322 3026 Fax 310 322 7709 www glentek com e mail sales glentek com
40. turn pots uM RV1 Signal Gain SIG Sets the input voltage to velocity ratio for signal input Tach Gain TACH Sets the DC tachometer gain Loop Gain Used to shut off uncalibrated amplifiers When the loop gain is LOOP GAIN fully CCW no current is delivered to the motor Balance BAL Used to null any offset in system RV3 Compensation COMP Used in conjunction with tach gain to set the system bandwidth RV5 Current Limit LIMIT Sets the maximum motor current Shipped set CCW min current PROCEDURE 1 Apply main power and fan power Visually confirm a green LED Depending on the configura tion of the Inhibit Reset and Limits it may be necessary to make appropriate connections to those terminals before the amplifier will be enabled and energize the motor 2 Slowly turn the Loop Gain RV6 CW fully Motor should be stopped or turning slowly If the motor starts running away remove the power reverse the tach leads and retest 3 Set Balance RV2 for zero motor rotation 4 Install a micro shunt at J3 connector across J3 1 to J3 2 Note For single ended signal input amplifier a micro shunt is permanently installed at J3 connector On the other hand the micro shunt should be removed for differential input ampli fier after the calibration process 5 Connect oscilloscope to J1 7 MTR I and battery box to J1 1 J1 4 is common for both The voltage on J1 7 is a function of motor current 1V 2 0A
41. urn pot and RV1 RV5 are 10 turn pots Name of Pot Notes RV 1 Signal Gain SIG Sets the input voltage to velocity ratio for signal input V4 Tach Gain TACH Sets the DC tachometer gain V2 Balance BAL Used to null any offset in system Compensation COMP Used in conjunction with tach gain to set the system bandwidth RV5 Current Limit LIMIT Sets the maximum motor current Shipped set CCW min current V6 Loop Gain Used to shut off uncalibrated amplifiers When the loop gain is LOOP GAIN fully CCW no current is delivered to the motor PROCEDURE 1 Apply main power and fan power Visually confirm a green LED Depending on the configura tion of the Inhibit Reset and Limits it may be necessary to make appropriate connections to those terminals before the amplifier will be enabled and energize the motor 2 Slowly turn the Loop Gain RV6 pot CW fully The Motor should be stopped or turning slowly oet the Balance RV2 for OV at J2 4 to J2 5 3 Install a micro shunt at J3 connector across J3 1 to J3 2 Note For single ended signal input amplifier a micro shunt is permanently installed at J3 connector On the other hand the micro shunt should be removed for differential input ampli fier after the calibration process 4 Connect an oscilloscope to J1 7 MTR I and a battery box to J1 1 J1 4 is common for both The voltage on J1 7 is a function of motor current 1V 2 0A While applying a step input vo
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