GA4567 - Accu Electric Motors Inc.
Contents
1. USA 888 232 9183 CANADA 905 629 2505 Over 100 years cumulative experience 24 hour rush turnaround technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America Visit us on the web WWW Servo repalr com www servorepair ca www ferrocontrol com www sandvikrepair com www accuelectric com Scroll down to view your document For 24 7 repair services USA 1 888 932 9183 Canada 1 905 829 2505 Emergency After hours 1 416 624 0386 Servicing USA and Canada OPERATION amp SERVICE MANUAL Torque Switch Series Model GA370 Pulse Width Modulated Servo Amplifier GLENTEK Solutions for Motion Control GA370 MANUAL Table of Contents CHAPTER ONE INTRODUCTION 1 1 Introduction to the GA370 Manual CHAPTER TWO DESCRIPTION and SPECIFICATIONS 2 1 Description of the GA370 2 2 Description of Features and Model Numbering Information 2 2 4 Signal Input 2 2 2 Velocity Mode or Current Mode Options 2 2 3 External Programmable Current Limit 2 2 4 and Limits 2 2 5 Lock Out Total Inhibit and Fault Monitor 2 2 6 Carrier Frequency 2 2 7 Multi Axes Configurations 2 2 8 Example Model Numbering Protection Circuits 2 31 Over Voltage Indicator Red LED 2 3 2 Low Speed Electronic Circuit Breaker Red LED 2 3 3 High Speed Electronic Circuit Breaker Red LED 2 3 4 Temp Indicator Operation Red LED Specifications 22. Be sure that the motor mechanism is clear of all obstructions If motor is connected to an axis lead screw or other device with limited motion place at midposition Work on only one amplifier at a time Make sure all Current Limit pots are turned fully CCW before applying power DO NOT use grounded test equipment 5 2 AMPLIFIER ALIGNMENT INTRODUCTION When adjusting an amplifier for optimum velocity loop operation it is desirable to achieve a critically damped stable step velocity response with maximum DC Tach Gain The following discussion will describe how to best achieve this result Your amplifier has been run at the factory with a known motor tachometer and inertial load In testing at the factory we try to simulate the same conditions you will have in your system For this reason it is a good idea to start with the initial settings as shipped from the factory 5 3 VELOCITY LOOP PHASING For proper servo operation it is necessary for the amplifier to receive negative feedback from the tachometer If the tachometer leads are reversed positive feedback the amplifier will run away To check the phasing of the motor and tachometer proceed as follows 1 2 3 Make sure Current Limit potentiometer RV5 is full CCW as shipped from factory Make sure that nothing is connected to the Signal Input J1 2 or the Auxiliary Signal Input J2 1 or J2 2 Apply the main power for DC Buss and the 120 volt power for the fans Sl
3. SR o A sun ME S WI Ni e NIE IE 1068 6 3 8 fh 920 G 0 Sc 20001 09 YIMOd IHXYN 501 5304 990 31 GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 FAT T D AMT LININ YNAVINUSD GA370 MANUAL 30 1 13 9002 BEN piedi N P SNOISNOW SXv v 9 6 STO 1517 1844 BO WIVI 30 1511 rir we 24 rr aaa ow e 5 wi TINON M3N0d SLINO ve 0 vo 13000 SIXY NONNOO AALINOHOWL woes WO 9IS OL 103NNOO 50831 ONY 318 0IOTIHS ISN JHL 40 SINAINO 2 504 SI LV OL ININA 1 SALON 261091 01 9L NONJ 3OVMOYd SO 160060 SP NO MOLOM 9 YOLOM 038080 11308449 131901 WAS SINIOd 1531 eN RO Or 39102123 INANI 00000 PPP ine 53281 y 9920 lt 2 gt 9 ES A
4. zxeinyo SP 32 GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 FAT T D AMT LINIEN YMNAVWINUSD GA370 MANUAL 30 133HS Y N IWI li 9 9 039 00 1319404 02 NOLLVYTIVLSNI SIXV 9 9 G BID SSIM ASI 4594 NO WIYILVH 30 1511 OR ie or 34 roo ar 10 81 Wat wi _ wz O Loza re ow a 21438 09 06 021 SOZNV3 10ZNV3 39 31000 won SUNO G V9 0 Y9 1300 0 9 HOWL YO AIS OL 1238802 50 31 WNOIS 304 31892 03013195 380 6 NUR Sand IHL 30 SifldinO IHL SI LV USISMGAY OL 9 1 Quan f Soy 2021 29 INANI 8304 2409 06 INNOZL DAL ls 33 GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 High Bandwidth Brush Type Servo Amplifiers e Linear Brush type servo amplifiers to 2 25KW e PWM Pulse width modulated Brush type servo amplifiers to 7OKW High Bandwidth Brushless Servo Amplifiers e Linear Brushless servo ampl
5. would damage the output transistors the Temp indicator LED is latched ON inhibiting the amplifier GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 18 GA370 MANUAL 9 NAINTONANGVE NCT AIN ANY WAnNNAINI I List of possible causes of excessive temperature rise Loss of cooling air Fans are defective or airflow is blocked Excessive rise in cooling air temperature due to cabinet ports being blocked or excessive hot air being ingested Extended operational duty cycle due to mechanical overload of motor or defective motor Defective power output section due to component failure Return to Glentek for repair Noisy Tachometer Signal A noisy tachometer causes a considerable amount of random switching of the power output transistors thus increasing the amount of heat developed in the output section The higher the bandwidth the more the heating due to a noisy tachometer A noisy tachometer can be identified by a large amount of rumbling and twitching of the motor at low or zero shaft speeds 6 2 5 OVER VOLTAGE SHUTDOWN When the D C Buss Voltage has exceeded the maximum safe voltage for your system the Over voltage indicator LED is latched ON inhibiting the amplifier This circuit protects the motor and amplifier from high D C Buss Voltages List of possible causes of high D C Buss Voltage 1 main voltage too high 2 Wrong transformer installed 3 A spinning DC motor
6. Ambient Dimensions Width x Depth x Height GA370 3 8 5 in x 1 8 in x 6 2 in GA370 1A 1 5 0 in x 10 3 in x 7 0 in GA370 2A 2 9 0 in x 10 5 in x 7 3 in GA370 4A 4 13 0 in x 10 5 in x 7 5 in GA370 6A 6 16 5 in x 10 5 in x 7 8 in GA370 3 1 5 Ibs GA370 1A 1 6 5 GA370 2A 2 7 5 lbs GA370 4A 4 12 lbs GA370 6A 6 17 lbs 2 46 TYPICAL FACTORY SETTINGS Sig and Aux Gain 5V Sig 7V Tach Tach Gain 50 Current Limit CCW OFF Comp CCW Min Bandwidth LS ECB 15A 3 sec HS ECB 45A 10 micro sec GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 8 GA370 MANUAL VIIAr 11 11 VF CHAPTER THREE THEORY OF OPERATION 3 1 INTRODUCTION TO THEORY OF OPERATION A Velocity Mode servo amplifier is essentially comprised of two control loops see fig 3 1 VELOCITY CURRENT CURRENT ERROR SIGNAL LOOP LOOP AMPLIFIER RENT MAND OR ELOCITY ERROR SIGNAL CUR VELOCITY COM COMMAND SIGNAL pT 4 VELOCITY FE Figure 3 1 The inside control loop is referred to as the Current Loop and the outside loop is referred to as the Velocity Loop Before we begin our analysis of the Current Loop let us review some basic concepts which will help you to better understand the amplifiers operation 3 2 OPERATION OF OUTPUT SWITCHING TRANSISTORS The output transistors for all intents and purposes operate
7. B GA370 installation diagrams These installation diagrams show the necessary external connections to ensure proper amplifier operation Glentek recommends that your wiring be in accordance with all national and local codes that are applicable to your system Wire size must be sufficient to accommodate the maximum continuous current that will be run thru it Recommended wire sizes for the GA370 as follows MOTOR ARMATURE 14 ga 0 105 VAC POWER INPUT from secondary of power transformer 12 ga 120 VAC FOR FANS 16 ga twisted pair SIGNAL INPUT 22 ga min 2 conductor with shield TACHOMETER INPUT 22 ga min 2 conductor with shield Terminate shield one end only at tachometer common J1 terminal 4 of amplifier module When wiring to and from the drive cabinet it is considered good technique to route the power lines 16 ga and larger along different paths than the signal and tachometer lines This minimizes the amount of stray noise and pick up that is injected into the amplifier 4 3 BASEPLATE CONNECTIONS 4 3 1 120 50 60 Hz FOR FAN S Connect the 120 VAC to terminals 11 and 12 of terminal barrier strip TB201 located on the baseplate DO NOT APPLY ANY POWER YET 43 2 INPUT FROM SECONDARY OF POWER TRANSFORMER The AC voltage that is used to form the DC Buss of the amplifier package is supplied from a separately GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 12 GA
8. El Seaundo California 90245 U S A 310 322 3026 16 GA370 MANUAL J VIAN UF ALUUGGIIVILINI 5 5 CONNECTING AMPLIFIER DIGITAL POSITION LOOP Before connecting the amplifier to the Digital Position Loop be sure adjustments of section 5 4 have been made Start out with Current Limit potentiometer RV5 fully CCW and activate the Digital Position Loop Slowly turn Current Limit potentiometer CW If servo runs away immediately adjust Current Limit fully CCW and turn power OFF 1 It is possible at this time that the Digital Loop is reverse phased An example of this would be if a positive voltage from the velocity DAC required the motor to turn CW however it turned CCW instead causing the encoder feedback signal to count up instead of down This would cause a run away condition If you are out of phase as described be sure power is OFF and reverse the motor leads at the amplifier and also the tachometer leads This will cause the motor to rotate in the opposite direction as it did before properly phasing the Digital Loop Now with the Digital Loop operating set Current Limit potentiometer RV5 to the desired peak current See 5 3 5 and 5 4 3 and command a small move Slowly increase or decrease the Signal Gain potentiometer RV1 or RV2 of the amplifier until the servo is operating as required It should be noted here that too much Signal Gain at this point can cause instability oscillation Do
9. Street El Seaundo California 90245 U S A 310 322 3026 11 GA370 MANUAL ICN t INVIALLALIVIN OE 1 Ur CHAPTER FOUR INSTALLATION AND SETUP 4 1 MOUNTING The installation diagrams in Appendix B show the bolt hole mounting pattern to support the amplifier the mounting holes will accept a 1 4 inch bolt The base material is cadmium plated 060 inch thick steel THE MOUNTING BOLT SHOULD PROVIDE AN ELECTRICAL GROUND FOR THE CHASSIS TO MINIMIZE SHOCK HAZARD The surface that the amplifier package will be mounted on must be able to support its weight but does not need to provide Acold plate ooling for the amplifier Standard 100 CFM muffin fan s are mounted on the baseplate to cool the amplifier s It is IMPORTANT to allow a minimum of three inches between both the fan side and the module side opposite fans of the amplifier baseplate and the cabinet wall The distance between the other two sides and top of the amplifier and the cabinet walls are not critical however some space should be provided for wire routing and terminal strip access The amplifier package should be mounted in a clean dry enclosure with a maximum ambient temperature of 50 C To ensure maximum reliability keep the amplifier cabinet cool and free from dust oil and other contaminates NEVER INSTALL THE AMPLIFIER PACKAGE IN ANY LOCATION WHERE FLAMMABLE OR EXPLOSIVE VAPORS ARE PRESENT 4 2 WIRING SIZE AND PROPER TECHNIQUE Please refer to Appendix
10. etc You often hear the term ADC Box the velocity loop servo being used by people working on servo systems This Battery Box may be purchased from Glentek Inc Part Number BB700 At this point the motor should be running smoothly While applying and removing the DC input signal adjust the Current Limit potentiometer RV5 for desired maximum acceleration and deceleration current Motor current should be observed by using an oscilloscope at J1 5 DCS Scale factor of voltage at this point is 12 VOLT 25 AMPS of motor current Leave the Current Limit potentiometer at this setting for all remaining adjustments Note the number of turns from the CCW end Adjust the Signal Gain potentiometer RV1 or RV2 of the signal input that you are using so when you apply the DC signal the motor rotates at approximately 400 RPM Observe the tachometer voltage with an oscilloscope while applying and removing the DC input signal You will observe one of three possible waveforms Critically Damped Under Damped or Over Damped see figure 5 4 The waveform that for many systems is optimum is the critically damped waveform If the waveform that you are observing is critically damped proceed to step 9 your waveform is under damped make the following adjustments Turn the Compensation potentiometer RV4 CW until the waveform becomes critically damped Note here that the limiting factor will be a motor oscillation you must always leave the Compensation p
11. is basically a DC generator and it produces a voltage BEMF which is proportional to RPM This BEMF voltage becomes additive to the DC Buss voltage Regen Voltage when the amplifier is commanded to decelerate a given motor inertial load If the Regen Voltage is high enough to cause an OVER VOLTAGE SHUTDOWN consult with Glentek for the addition of a REGEN CLAMP to your system 6 2 6 LOW SPEED ELECTRONIC CIRCUIT BREAKER LS ECB SHUTDOWN The LS ECB is tripped when a preset current threshold is exceeded for a preset length of time typically 15 Amps for 3 seconds The time delay is typically set at the factory to your system requirements List of possible causes 1 Binding or stalling of motor shaft 2 Overload of amplifier output to motor 3 Large reflected load inertia 6 2 7 HIGH SPEED ELECTRONIC CIRCUIT BREAKER HS ECB SHUTDOWN HS ECB is tripped by 45 or more Amps of output current for 10 micro seconds List of possible causes 1 Shorted motor leads 3 Motor inductance too low 2 Intermittent motor short 4 Motor commutator flash over 6 2 8 RESET RESET J1 13 is activated by a 3ma contact closure to amplifier common J1 14 Reset is also accomplished by pressing the pushbutton Reset switch S1 or by removing all power from amplifier waiting until the D C Buss capacitor is discharged and reapplying power Refer to appendix B drawings 370 3003 and 370 3018 6 3 FACTORY REPAIR Should it become necessary to return th
12. not stay in this oscillating condition long as it may result in system mechanical or electrical damage Be sure when all signal adjustments are made that the Balance is rechecked and adjusted for zero rotation for zero signal input It should be noted here that the GA370 is designed to operate with many different systems and if after reading this manual you have further questions do not hesitate to call a Glentek applications engineer ENGINEERING NOTE After all systems are aligned and functioning it is good practice to remove power from the amplifier and using a digital ohm meter measure the impedance value of the following potentiometer wiper settings with respect to signal ground These values may be useful for the next machine you align or for maintenance of this system at a later date Make these measurements for each amplifier on a multiaxis baseplate Record resistance measurements 1 2 AMP3 AMP4 AMP5 AMP6 1 Tach potentiometer wiper to signal ground ohms 2 Signal potentiometer to signal ground ohms 3 Comp potentiometer wiper to signal ground ohms 4 Current limit potentiometer wiper to signal ground ohms ees Record agn nal voltage volts Signal achometer volts Tach voltage ratio Date data taken ___ Also note any changes of Compensation components etc GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 17 GA370 MANUA
13. turned ON and OFF as shown in figure 3 3 Note that since the pulse widths are equal the net DC current in the motor is equal to zero QA amp QC ON OFF QB amp QD Figure 3 3 When a non zero current is commanded to the current loop the transistor switching waveform is as shown in figure 3 3A Since there is a non zero current command the output transistor pulse widths will change and the motor will see a net DC current flowing from A through C see fig 3 2 QA amp QC ON OFF QB amp QD ON Figure 3 3A If the input to the current loop had been changed in polarity the output transistor switching waveform would be as shown in figure 3 3B QA amp QC ON OFF QB amp QD ON Figure 3 3B If a larger current of the same polarity was commanded to the output transistors see fig 3 3B the ON time widths of B and D would automatically increase to provide more current GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 10 GA370 MANUAL ILEN Jg VF From the previous examples it is easy to understand why this output transistor switching technique is referred to as Pulse Width Modulation To change the magnitude and polarity of the current flow in the motor the pulse widths of the opposite pairs of transistors are modulated The frequency at which these output transistors are switched ON and OFF is referred to as the Carrier Frequency Our carrier frequ
14. 2 2 7 MULTI AXES CONFIGURATIONS The single and multi axes part number designators are as follows GA370 1 Single amplifier module GA370 2A 1 2 Axes chassis with 1 Amplifier module GA370 2A 2 2 Axes chassis with 2 Amplifier modules GA370 4A 3 4 Axes chassis with 3 Amplifier modules GA370 4A 4 4 Axes chassis with 4 Amplifier modules GA370 6A 5 6 Axes chassis with 5 Amplifier modules GA370 6A 6 6 Axes chassis with 6 Amplifier modules GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 5 GA370 MANUAL ICN VEVUNIP LIVIN OI LII LIVING 228 EXAMPLE MODEL NUMBERING The following example of GA370 part numbering is provided to help you better understand part numbering system GA370 XXX 4A 3 Amplifier model Nn Ll Total number of amplifier modules on base plate Amplifier configuration code Number of amplifier modules the baseplate will hold For this example each of the three amplifier modules would be labeled GA370 XXX with serial number The 4 axes chassis would be labeled GA370 4A 3 with serial number Most amplifier options e g limits are user configurable However if you would prefer to have Glentek pre configure your units a three digit amplifier configuration code is added to the end of the amplifier model number The standard amplifier configuration code is 000 Refer to Configuration section 2 1 The chart below shows how to construct a custom c
15. 2 6 Low Speed Electronic Circuit Breaker LS ECB Shutdown 6 2 7 High Speed Electronic Circuit Breaker HS ECB Shutdown 6 2 8 6 3 Factory Repair 6 4 Warranty APPENDIX A FAULT TRACING CHARTS Fault Chart 1 Motor does not turn in either direction Fault Chart 2 Motor only turns in one direction Fault Chart 3 Motor does not develop maximum output speed no load applied in either direction Fault Chart 4 Motor does not develop maximum output torque in either direction Fault Chart 5 Motor wanders and hunts or does not track smoothly APPENDIX B AMPLIFIER DRAWINGS Installation Schematic GA370 3 370 3003 Installation Schematic GA370 3 370 3018 Installation Schematic GA370 1A 1 370 3004 Installation Schematic GA370 2A 2 370 3005 Installation Schematic GA370 4A 4 370 3006 Installation Schematic GA370 6A 6 370 3007 GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 3 VIAT ICN l GA370 MANUAL CHAPTER ONE INTRODUCTION 1 1 INTRODUCTION TO THE GA370 MANUAL This manual is intended for use with Glenteks TORQUE SWITCH series model GA370 Pulse Width Modulated PWM servo amplifiers It provides all of the information that is required for installation alignment and maintenance of the GA370 We suggest that you take the time to read this manual from cover to cover before trying to work with a GA370 amplifier If you have any questions no
16. 370 MANUAL ICM t INVIALLALIVIN OEIL Ur mounted transformer that has been selected by Glentek for your application Connect the secondary of the power transformer to terminals 9 and 10 of TB201 DO NOT APPLY ANY POWER YET 4 4 AMPLIFIER CONNECTIONS AND FUNCTIONS 4 4 1 DC BUSS The DC Buss from the filter capacitor is connected to pins 1 2 and 4 5 of J5 This connection is already made for you on our multiaxes packages The power transformer for the DC Buss is not a standard part of the amplifier package Glentek can advise on transformer specifications for your application Most styles and sizes are in stock at Glentek 4 4 2 MOTOR The Motor is connected to pins 7 8 and 10 11 of J5 SEE APPENDIXES B4 B7 In most cases if the motor inductance is less than 1 millihenry an inductor should be connected in series with the motor leads The inductor is considered to be a separate part from the amplifier package Glentek can advise on inductor specifications for your application and most styles and sizes are in stock at Glentek IT IS IMPERATIVE THAT YOU DO NOT USE GROUNDED TEST EQUIPMENT ON THE MOTOR ARMATURE NOR CONNECT EITHER END OF THE MOTOR ARMATURE TO SIGNAL GROUND OR DC BUSS RETURN 4 4 3 SIGNAL INPUT The GA370 has two signal input configurations controlled by JP1 Configuration A JP1 set on A has two single ended inputs SIG IN J1 2 and AUX IN J1 1 Configuration B JP1 set on B has one single end
17. 4 1 Output Power 2 4 2 Input Power 2 4 8 Signal Inputs 2 4 4 Other Inputs and Outputs 2 4 5 Mechanical also see appendix B3 B6 2 4 6 Typical Factory Settings CHAPTER THREE THEORY of OPERATION 3 1 Introduction to Theory of Operation 3 2 Operation of Output Switching Transistors 3 3 H Type Output Bridge Configuration 3 4 Pulse Width Modulation PWM 3 5 Current Loop Operation 3 6 Velocity Loop Operation CHAPTER FOUR INSTALLATION PROCEDURE 4 1 Mounting 4 2 Wiring Size and Proper Technique 4 3 Baseplate Connections 4 3 1 120 VAC 50 60 Hz for Fan s 4 3 2 Input from Secondary of Power Transformer 4 4 Amplifier Connections and Functions 4 4 1 4 4 2 4 4 3 Signal Input 4 44 Tachometer Input 4 4 5 Decoupled Current Sense DCS 4 4 6 Limits GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 2 GA370 MANUAL 4 4 7 Lock Out Total Inhibit and Fault Monitor 4 4 8 Reset 4 4 9 Velocity Mode or Current Mode Option 4 4 10 External Programmable Current Limit CHAPTER FIVE START UP and ADJUSTMENT PROCEDURE 5 1 Safety Precautions 5 2 Amplifier Alignment Introduction 5 3 Velocity Loop Phasing 5 4 Tach Gain Adjustment 5 5 Connecting Amplifier to Digital Position Loop CHAPTER SIX MAINTENANCE REPAIR and WARRANTY 6 1 Maintenance 6 2 Repair 6 2 1 Fault Tracing 6 2 2 Fault Tracing Charts 6 2 3 Part Replacement 6 2 4 Over Temperature Shutdown 6 2 5 Over Voltage Shutdown 6
18. 901 3 30 13085 03 SOLINOW ONY 1199340 OL LINN 13 40104 3091439 NAOT 1023 51 540113 493 5504 5831411238 3LYDHS 304 23H2 22 GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 GA370 MANUAL A TAULI I NAVIN VIIANIJ Fault Chart 2 MOTOR ONLY TURNS IN DIRECTION CHECK EXTERNAL LIMIT SIGNALS 687 REMOVE EXTERNAL LIMIT AND CHECK SYSTEM RETURN AMPLIFIER TO GLENTEK FOR REPAIR GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 23 GA370 MANUAL REPAIR MAIN POWER SOURCE REPLACE MAIN POWER TRANSFORMER REPLACE RECTIFIER CHECK AND REPLACE DEFECTIVE BUSS CAPACITOR C201 Fault Chart 3 A TAULI MOTOR DOES NOT DEVELOP MAXIMUM OUTPUT SPEED NO LOAD APPLIED IN EITHER DIRECTION MAIN POWER TRANS INPUT VOLT OK IS VOLTAGE AT TB201 OK NOTE 1 IS RECTIFIERS OPEN IS BUSS RIPPLE VOLTAGE HIGH NOTE 3 15 AMPLIFIER IN MULTI AXIS PACKAGE po OTHER AMPS BASEPLATE OPERATE D C BUSS VOLTAGE OK NOTE 1 VOLTAGE DUTPUT OK V KRPM AMP OUTPUT VOLTAGE OK NOTE 2 RETURN AMPLIFIER TO GLENTEK FOR REPAIR CHANGE TO CORRECT V KRPM TACHOMETER OR CONSULT FACTORY CHECK FOR MECHANICAL BINDING OR REPLACE MOTOR GLENTEK Inc 208 Standard Street El Seaundo C
19. AL Fault Chart 1 RENO NV 5894 2350 0700 304 LIVA 53 913 ONIGNIG 303 W3LSAS HIJN_A93H9 391 935 OL 1438 YOLOW 123NND23M 089 335 ANY 3934 378083 NO 031 JOVL OA 3 0 729 NO dW3133 U 929 31 993 03395 AD NIAD NADIE 13 3503 SI NV LISIHNI TWN331X3 3ADH33 LISIHNI 1 831 3 SI 3199340 31914 3594 NO SdWV 33H10 Da SIN3LLIWH3INI 130 03 51112412 SOLOW 0389 4189 31 53 3345 HOIH Y3M0d 144 13 35N4 3091439 040 193NNOOSIC 19933 303 34379 OL 179 1134 e AD 39V1 10A 2109100 T 3103 399110 5504 770 13993094 SIX IL1NW NI VEZ No 031 17093 NIAD NADJE 14 3503 SI NOILISSIG NI LON 300 40108 YOLOW 390 303 939 1022 301139493 5504 3 1123130 3991439 NV 32389 93831111339 SI 331411233 3091433 ANO NADJE 1024 JIADA 1 4 SI 34 3503 N3dD 3091438 SOLOW 123 02510 3150 UI 10281 19 30VLT0A 43A0d SI 3011438 LA 4309 NIVN 333005 3308 319434 NV JVA02 3010 LIANNOIIY 1012412 L8DHS 304 ONISIA NV YOLOW MIHI T 310N NI LTA 5504 2 713 8401199999 5508 5431311939 90 303 72389
20. Glentek Note DC Buss voltage should be selected approximately 10 20 above the maximum voltage required at motor terminals for maximum system efficiency INPUT POWER FOR DC BUSS A fused single phase full wave rectifier and filter capacitor are provided on the base plate The AC input to this circuit is supplied by a separately mounted power transformer unique to the application The power transformer and motor output inductors are not standard parts of the amplifier package Glentek has power transformers and inductors in stock for your total system requirements 2 4 8 SIGNAL INPUTS VOLTAGE MAXIMUM Aux Input 70 Volts Sig Input 70 Volts Diff Input 13 Volts Tach Input 90 Volts GAIN MAXIMUM Sig and Aux Inputs 15 000 Amps Volt Tachometer 7 000 Amps Volt Input Impedance Minimum 20K Ohm Drift Ref to Input Maximum 0 01mV GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 7 GA370 MANUAL ICEN VEVUNIP LIVIN OI CVI LIVING Frequency Response Minimum 1 500 Hz Dead Band None Form Factor 1 01 2 4 4 OTHER INPUTS AND OUTPUTS and Limits Type A Activated by a 3ma contact closure to common Lock Out Total Inhibit activated by a 3ma contact closure to common monitor 10k ohm pull up to 15VDC will sink 15 ma Reset Activated by a 3ma contact closure to common 2 4 55 MECHANICAL SEE APPENDICES B3 B6 Mounting Any Position Cooling 50 C
21. L U MAININ I CIIAN NCT AIN ANY WAMRMAINI I CHAPTER SIX MAINTENANCE REPAIR AND WARRANTY 6 1 MAINTENANCE The GA370 amplifiers do not require any scheduled maintenance The only wear out items are the cooling fans which are specified to have in excess of 5 years life by their manufacturer 6 2 REPAIR If your system exhibits a problem this manual should be off assistance in identifying the fault and to replace the defective component or sub assembly The GA370 amplifiers are modular assemblies and each individual amplifier section is designed to be easily removed and replaced at the field level It is Glenteks recommendation that a failed amplifier module be replaced in the field and returned to Glentek for failure analysis and repair However Appendixes B and C contain complete system schematics that in case of extreme emergency should permit a skilled electronic technician to trouble shoot the circuit boards to levels lower than those recommended as replaceable 6 2 1 FAULT TRACING This section will aid in the location of defective replaceable components and assemblies A list of the fault tracing charts in Appendix A along with the observable fault follows Fault Chart 1 Motor does not turn in either direction Fault Chart 2 Motor only turns in one direction Fault Chart 3 Motor does not develop maximum output speed no load applied in either direction Fault Chart 4 Motor does not develop maximum output torque in
22. V9 xx 3 0006 016 5 431 40440 1 12 STONY 99 15 39474 3701 131112345 55300 7002 0 lt S3ovid 2 46010 TM i de RN 1NOWNOO 1 13538 C ASL V NOWAOS OR 139 4410 NE 34IQ Sur N 33AO UWIT YND NIVO HOVL NIV9 9IS s 89d 38 HOINN OL O3SIA3H zonr v 200 lt 046 532 193 43 44 3190 SNOISIA3Y WAS 29 GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 FAT T D AMT LININ YNAVINUSD GA370 MANUAL 40 133HS BU SEA 000 an row alias Gi3INTIO SIXV ALIJAS SS 1517 SiMvd YO 30 1511 UVAIA 91 1 1o8 0L8 y Fue anew anus WML 1340052 40104410 20021000 VON 3504 1301073804 ZIN3H 09 06 OVADZL NVI HOWL YO 915 OL Q I3HS 193NNOO 50 31 5 303 31892 03013 5 35 2 W3ldFidNv JHL 30 5119100 3HL 1 SALON 3 084449 3190 5 015134 WAS 2 021 0 838404 2909 08 1741 53914 310H 9979 90 L7 1H 74427219 unt
23. When this pin J1 8 is pulled to ground either by the amplifier fault sensing circuit or some external circuit a 3ma contact closure to J1 9 the amplifier is totally inhibited The amplifier will pull this terminal to ground by turning ON Q1 Q1 can sink 15 ma for the following fault conditions Transistor heatsink temperature in excess of 170 Low Speed Electronic Circuit Breaker LS ECB triggered High Speed Electronic Circuit Breaker HS ECB triggered D C Buss Over Voltage Circuit triggered GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 13 GA370 MANUAL ICOM t HIN S2 IALLALIVIN NOTE Please refer to Chapter 2 3 on Protection Circuits and Chapter 6 for a more detailed description of the possible conditions that will cause the above faults to occur FAULT SHUTDOWNS CAN ONLY BE CAUSED BY ABNORMAL CONDITIONS THE CAUSE SHOULD BE INVESTIGATED BEFORE REPEATED RECYCLING OF THE MOTOR DRIVE TO PREVENT POSSIBLE DAMAGE TO THE AMPLIFIER 4 48 RESET RESET J1 13 is activated by a 3ma contact closure to amplifier common J1 14 Reset is also accomplished by pressing the pushbutton Reset switch SW1 or by removing all power from amplifier waiting until the D C Buss capacitor is discharged and reapplying power Refer to appendix B drawing 370 3003 4 49 VELOCITY MODE OR CURRENT MODE OPTION The GA370 is most often used to close a critically damped velocity loop
24. alifornia 90245 U S A 310 322 3026 NAVIN VIIANIJ 24 A TAULI I NAVIN VIIANIJ GA370 MANUAL Fault Chart 4 MOTOR DOES NOT DEVELOP MAXIMUM OUTPUT TORQUE IN EITHER DIRECTION GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 REPAIR MAIN POWER SOURCE REPLACE MAIN POWER TRANSFORMER REPLACE RECTIFIER CHECK AND REPLACE DEFECTIVE BUSS CAPACITOR C201 MAIN POWER TRANS INPUT VOLT OK IS VOLTAGE AT TB201 OK NOTE 1 15 RECTIFIERCS OK REPAIR INPUT SIGNAL CONTROLLER IS AMPLIFIER MULTI AXIS PACKAGE 00 OTHER AMPS D C BUSS VOLTAGE OK NOTE 1 INSPECT CURRENT SENSE OUTPUT 1 5 4 4 5 CURRENT SIGNAL OK INSPECT FOR PROPER INPUT SIGNAL COMMAND SIGNAL OK RETURN AMPLIFIER TO GLENTEK FOR REPAIR 25 GA370 MANUAL A TAULI I NAVIN VIIANIJ Fault Chart 5 MOTOR WANDERS AND HUNTS OR DOES NOT TRACK SMOOTHLY INSPECT THE TACH SIGNAL WITH AN OSCILLOSCOPE TACH REPLACE SIGNAL TACHOMETER NOISY INSPECT FOR PROPER INPUT SIGNAL lt S gt INPUT REPAIR SIGNAL 65 INPUT SIGNAL OK CONTROLLER RETURN AMPLIFIER TQ GLENTEK FOR REPAIR GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 26 GA370 MANUAL APPENDIX B AMPLIFIER DRAWINGS GLENTEK Inc 208 Standard Street El Seaundo Califor
25. drops to zero and the commanded current is equal to the actual current If anything happens to disturb either the current command signal or the current feedback signal the same process occurs again until the current command signal is equal in magnitude to the current feedback signal but opposite in polarity The type of loop described above is referred to as a Servo Loop because the current servos about a commanded value We are surrounded in our everyday lives by a multitude of servo loops For example many of todays luxury cars have what is called Aautomatic climate control To operate this servo loop the climate control is set to the temperature to be maintained in the interior of the car current command signal The selected temperature is then summed with the actual temperature from a thermometer current feedback and the output current error signal activates either the heater or the air conditioner until the set temperature current command signal is equal in magnitude but opposite in polarity to the actual temperature as measured by the thermometer current feedback 3 6 VELOCITY LOOP OPERATION Please refer to figure 3 1 for a diagram of a typical Velocity Loop The velocity loops operational description is analogous to the current loop description except for the fact that the input signal is called the Velocity Command and the feedback signal from the DC tachometer is called the Velocity Feedback GLENTEK Inc 208 Standard
26. e 1134 Y3MOd O A 3 le 1 4 10081 UIN gt W n QVAOCL CY Y INANI N3H0d 7809 06 27021 C 30 GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 FAT T D AMT LINIEN YNAVWINUSD GA370 MANUAL as WN g S00 0L EN 9 mona PNIS es 2 71 0 0 040 2 NOLIY T WISNI G3IN31IO SIXY Z 9 1 1511 51894 MO 30 1511 IST E 24 rar agone INNOVA NIG 4815 10281 AE ss ar as T UNITYN wa 13538 823 5 893 51 110 01 816 WOO HOVL YO DIS OL CTSIHS 193NNOO 750811 YILIWOH VL WNOIS 304 5 35N SY3LINANY JHL 30 Sindino GNNOYD 2 SUNNY TY 303 WoldAL SI OL ONISIM 1 SALON 161191 OL 390044 wso 16060 SP NO YOION YOLON CauRWIO 13 03449 ______ SINIOd 1531 N gt e 9 000000088 OOOOILQO 2 9121 OOOOIO 25 Sl 25 yoron 0139 YIMOd
27. e GA370 to Glentek for repair please follow the procedure described below Reassemble the unit if necessary making certain that all the hardware is in place Contact a Glentek representative and confirm the unit is being returned to the factory and obtain an ARMA NUMBER Return Material Authorization Tag the unit with the following information A Serial number B RMA number obtained from the factory C Company name and representative returning the unit GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 19 GA370 MANUAL 9 MAIN I CIIAN NCT AIN ANY WAMRMAINI I D A brief notation explaining the malfunction E Date the unit is being returned Repackage the unit with the same care and fashion in which it was received Label the container with the appropriate handling stickers e g FRAGILE HANDLE WITH CARE Return the unit by the best means possible The method of freight chosen will directly affect the timeliness of its return 6 4 WARRANTY Any product or part thereof manufactured by Glentek Inc described in the manual which under normal operation 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 provided that you promptly send to us notice of the defect and
28. ed input AUX IN J1 1 and one differential input DIFF IN J2 1 DIFF RET J2 2 Refer to Appendix drawing 370 3003 Typically when operating in the velocity mode the input signal range is 10 VDC The input voltage is summed with a precision DC tachometer to provide accurate velocity control at the servo motor shaft see fig 3 1 The Signal Gain potentiometer RV2 20 K and Auxiliary Gain potentiometer RV1 20 K adjust the motor velocity desired for a given input voltage velocity command see 4 2 for recommended wire type amp size 444 TACHOMETER INPUT The Tachometer is connected to pins 3 and 4 on J1 of the amplifier module see 4 2 for recommended wire type amp size 44 5 DECOUPLED CURRENT SENSE DCS The Decoupled Current Sense output signal can be monitored on pin 5 of J1 on the amplifier module It is an isolated output signal that is proportional to motor current The scale factor is 12 VOLT 25 AMPS 4 4 6 AND LIMITS The and Limits are located respectively at pins 6 and 7 on J1 of the amplifier module Please refer to 2 2 3 for a description of the different configurations of limits that are available Amplifier modules are normally shipped with type AA limits when pins J1 6 J1 7 are pulled to ground J1 9 by some external circuit the amplifier is inhibited in the or direction 4 4 7 OUT TOTAL INHIBIT AND FAULT MONITOR Lock Out is located at pin 8 on J1 of the amplifier module
29. either direction Fault Chart 5 Motor wanders and hunts or does not track smoothly 6 2 2 FAULT TRACING CHARTS The fault tracing charts in Appendix A start with an observable fault listed at the top of each chart Follow the line connections between blocks by the answers to the questions noted in the diamond shape blocks until the defective part is isolated The charts are to be used only as a guide to identify the parts or assemblies that Glentek recommends as the lowest level of repair The fault tracing procedures assume that only a single failure mode exists 6 2 3 PART REPLACEMENT The removal and replacement of the defective assembly can be accomplished with standard shop procedures The assemblies that may be easily removed are as follows Fuses 201 203 on baseplate and on each amplifier module Rectifier BR201 and BR202 Capacitor C201 Fan 201 203 Amplifier Module Al A6 After reviewing the fault tracing charts it may be concluded that the complete amplifier should be returned to Glentek for failure analysis repair and retesting to specifications This is particularly true with failure modes in the amplifier module sections A1 thru A6 FAULT SHUTDOWNS CAN ONLY BE CAUSED BY ABNORMAL CONDITIONS THE CAUSE SHOULD BE INVESTIGATED BEFORE REPEATED RECYCLING OF THE MOTOR DRIVE TO PREVENT POSSIBLE DAMAGE TO THE AMPLIFIER 6 2 4 OVER TEMPERATURE SHUTDOWN When the heatsink temperature has reached a level that if exceeded
30. ency is 20 000 cycles per second After realizing how the PWM amplifier output works it becomes apparent that some inductance must be added to the motor circuit to prevent excessively high AC current ripple and heating in the servo motor Consult a Glentek applications engineer for recommended inductance Now that we have a good understanding of how the current is provided from an TYPEGPulse Width Modulated PWM bridge lets analyze the operation of the current loop 3 5 CURRENT LOOP OPERATION Please refer to figure 3 1 for a diagram of the Current Loop In control electronics the symbol sigma with the circle around it is referred to as a Summing Junction The manner in which this summing junction operates is as follows The Current Command Signal also referred to as the Velocity Error Signal when received from the output of the velocity loop as shown in fig 3 1 is added to the current feedback signal The signal resulting from this addition is referred to as the Current Error Signal This current error signal is fed into the current amplifier which in turn produces a current in the motor A voltage which is proportional to the motor current is developed across Rs shunt resistor this voltage is referred to as the Current Feedback Signal The current in the motor increases until the current feedback signal is exactly equal in magnitude but opposite in polarity to the current command signal At this point the current error signal
31. establish that the product has been properly installed maintained and operated within the limits of rated and normal usage 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 electric motors 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 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 including power transistors 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 claims or damages that may be initiated against us by third parties GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 20 GA370 MANUAL APPENDIX A FAULT TRACING CHARTS GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 21 WIIAN IYD TAULI LINLZIA A GA370 MANU
32. fier and mechanical system from damage due to excessive mechanical bind or possibly driving into a hard mechanical stop GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 6 GA370 MANUAL ICEN VEVUNIP LIVIN OI CVI LIVING Circuit operation is as follows When the motor current exceeds the value set at TP9 typically 1 5 VDC scale factor 1 VOLT 10 AMPS U1B 14 switches positive and voltage on C46 begins integrating up If the current remains above the set point typically for 1 5 seconds the LS ECB latch will trigger 2 3 3 HIGH SPEED ELECTRONIC CIRCUIT BREAKER RED LED The indicator led will turn ON and latch indicating the High Speed Electronic Circuit Breaker HS ECB has fired This circuit protects the amplifier from dead shorts across the amplifier output terminals The HS ECB is always factory set and should not be adjusted The typical factory setting is 45 Amps for 10 micro seconds 2 3 4 TEMP INDICATOR OPERATION RED LED Temp Indicator LED will Turn and latch when the transistor heatsink temperature exceeds 170 SPECIFICATIONS 2 4 1 OUTPUT POWER For each GA370 amplifier module OUTPUT CURRENT 25 AMPS OUTPUT CURRENT RMS 15 AMPS OUTPUT VOLTAGE TYPICAL 100 VDC 2 4 2 INPUT POWER FANS 120 VAC 50 60 Hz 1 AMP BUSS VOLTAGE TYPICAL 65 VDC TO 170 VDC MAXIMUM 200 VDC Higher Buss Voltages available consult
33. ifiers to 2 25KW e PWM Pulse width modulated Brushless servo amplifiers to 65KW 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 GLENTEK MANUAL 4 370 3040 000 Solutions for Motion Control 208 STANDARD STREET EL SEGUNDO CALIFORNIA 90245 USA TELEPHONE 310 322 3026 FAX 310 322 7709 WWW GLENTEK COM
34. in only two states They are analogous to an ON OFF switch When an output transistor is OFF there is no current flowing through it its resistance is infinite When an output transistor is ON current flows through it its resistance is near zero When the transistor is ON it is technically referred to as being in saturation 3 3 TYPEGOUTPUT BRIDGE CONFIGURATION The output configuration of the amplifier is an TYPEGbridge see fig 3 2 for schematic representation of an output bridge with motor connected D C BUSS FILTER CAPACITOR Figure 3 2 The advantage of an TYPE output bridge configuration is that by controlling the switching of the opposite pairs of transistors current can be made to flow through the motor in either direction using a single polarity power supply as shown in figure 3 2 GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 9 GA370 MANUAL 11 11 VF YrCENAIIVJIN To provide motor current in one direction A and C are turned ON while B and D remain in the OFF state To provide motor current in the other direction B and D are turned ON while A and C remain in the OFF state 3 4 PULSE WIDTH MODULATION PWM Pulse Width Modulation is the technique used for switching opposite pairs of output transistors ON and OFF to control the motor drive current When zero current is commanded to the current loop the opposite pair of transistors are
35. nia 90245 U S A 310 322 3026 27 28 FAT T D YNAVWINUSD GA370 MANUAL STG hoe 0 O3lN31O YOLOW 1122 3190 000 900 52003 8334 YIN 399170 9 13 SNOTLOVES ON ON ON ON 1 SIONAL 1312345 3514310 557 1 War T 3dWnC gw 34 aNd 2 3dAL 3149510 01 ai3dwnr sr3dwnr ON ON ON ON 3dAL 3 3dWnr 3189514 OL ON 4 M3dWnr 9 21 MSA OSA ed Ord Edr IIATT CL D 31891 9NINVSDDSd Sadar A 22 2 893 57 RP 2 aor E err 80vE2H wl gt 5 1102419 Ee svig A LIGIHNI 79101 1103414 1100410 11012412 13538 NO 33MOd NIVIHIVL 0 5 330 en GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 FAT T D LIE 11 13 YNAVWINUSD GA370 MANUAL 13365 30 L 133HS PES ava 4 18102048 Se 3 6008 0 0693061 ava nagl LOO 0Z 519 8 E 0
36. onfiguration suffix 4 See sect 2 2 4 and Appendix 2 1 Differential input Limit gt JP3 O Jumper 1 No Jumper 0 Single ended inputs limit gt JP4 0 1 D See Appendix B2 Dwg 370 3003 Limit gt JP2 O Jumper 1 No Jumper Limit gt JP5 0 1 D 1 Current mode 0 Velocity mode See Sect s 5 5 and 5 6 Inhibit JP3 JP4 JP2 JP5 0 0 0 0 NUMBER GROUP 1 1 1 1 e i9 000020 0110 4 1000 8 1100 C 1 0 1 0 0001 1 0101 5 1001 9 1101 D 0010 2 0110 6 1010 1110 0011 3 0111 9 1011 1111 F AMPLIFIER CONFIGURATION CODE 2 3 PROTECTION CIRCUITS The following protection circuits are integral to the GA370 amplifier to prevent damage to the amplifier and your equipment When activated these protection circuits will totally inhibit the amplifier and turn on the fault output Again Glentek is anxious to work with you in helping to implement any circuit functions your system might require Note For 2 3 1 to 2 3 4 refer to Appendix B drawings 370 3018 and 370 3003 2 31 OVER VOLTAGE INDICATOR RED LED The indicator LED will turn ON and latch indicating the D C Buss Voltage has exceeded the maximum safe voltage for your system This circuit protects the motor and amplifier from high D C Buss Voltages 2 3 2 LOW SPEED ELECTRONIC CIRCUIT BREAKER RED LED The indicator LED will turn ON and latch indicating the Low Speed Electronic Circuit Breaker LS ECB has fired This circuit protects the motor ampli
37. otentiometer CCW enough so that the velocity loop remains stable If the waveform is still under damped after adjusting the Compensation potentiometer for maximum bandwidth turn the Tachometer Gain potentiometer 2 turns CCW and then again adjust Compensation potentiometer RV4 CW until waveform becomes critically damped Repeat procedure if necessary Again the servo velocity loop must at all times remain stable Consult the factory if necessary If the waveform is over damped make the following adjustments Turn the Tachometer Gain potentiometer RV3 CW until a slight overshoot appears on the waveform then turn the Compensation potentiometer RV4 CW until a critically damped waveform is observed Now that the waveform is critically damped leave the Compensation RV4 and Tachometer Gain RV3 at these settings for all remaining adjustments and operations Next set the Signal potentiometer RV1 or RV2 of the signal input that you are using to the gain required by your system Ex 10 VOLTS INPUT 2000 RPM Adjust Balance potentiometer RV6 one more time to null out any offset For all remaining adjustments when placing the amplifier in your system only the Signal potentiometer RV1 or RV2 and Balance potentiometer RV6 should be adjusted Tach Voltage RPM Time Critically Under Damped Over Damped Damped Too much Tach Not enough Tach or not enough Bandwidth Figure 5 4 GLENTEK Inc 208 Standard Street
38. owly turn the Current Limit potentiometer RV5 CW If the motor starts to run away turn the Current Limit potentiometer full CCW and reverse the motor armature leads Again slowly turn the Current Limit potentiometer CW The motor should be stopped or rotating slowly Set Current Limit potentiometer RV5 to the desired peak current for the remaining adjustments and operations Typical settings for Current Limit potentiometer RV5 20 turn potentiometer 3 turns CW 30 peak current 10 turns CW 85 peak current 6 turns CW 60 peak current 14 turns CW 95 peak current 5 4 TACH GAIN ADJUSTMENT At this point the motor will be rotating slowly Adjust the Balance potentiometer RV6 until the motor rotation is stopped While observing the tachometer output voltage with an oscilloscope apply a step input voltage at the Signal Input terminal of the amplifier A step input voltage can be simulated by applying and removing a flashlight battery to the Signal Input For this purpose the battery is usually mounted inside of a small box with a switch Common names used to describe this DC signal voltage source are Battery Box or DC Simulator GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 15 GA370 MANUAL WIIAFIEN YJ VIAN UF ALUUJIIVILINI CAVVEYVUnNe Elaborate signal sources are often made for this purpose including bipolar output potentiometer output adjust and polarity reversing switches
39. t addressed in this manual please feel free to call and discuss them with a Glentek applications engineer Having been in the servo system business for over 28 years we have a vast pool of applications knowledge waiting to assist you Thank you for using Glenteks products It is our goal to save you money time and provide you with a superior product GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 4 GA370 MANUAL ICEN JLOVNIT LIVIN Or CVI LIVING CHAPTER TWO DESCRIPTION AND SPECIFICATIONS 2 1 DESCRIPTION OF THE GA370 The GA370 is a modular high power high bandwidth PWM servo amplifier designed for use with DC permanent magnet servo motors The GA370 utilizes todays latest technology in power semiconductors for high efficiency which in turn makes the amplifier extremely reliable in todays and tomorrows demanding applications 2 2 DESCRIPTION OF FEATURES AND MODEL NUMBERING INFORMATION 2 2 1 SIGNAL INPUT The GA370 has two signal input configurations controlled by JP1 Configuration A JP1 set on A has two single ended inputs SIG IN J1 2 and AUX IN J1 1 Configuration B JP1 set on B has one single ended input AUX IN J1 1 one differential input DIFF IN J2 1 DIFF RET J2 2 Refer to Appendix drawing 370 3003 2 2 2 VELOCITY MODE OR CURRENT MODE OPTIONS The GA370 is most often used to close a critically damped velocity loop using a DC
40. tachometer for velocity feedback However the input summing amplifier can be reduced to a gain of one by connecting 20 0K resistor across pins 1 and 4 of J3 The gain of the GA370 can then be adjusted from 0 to 3 Amps Volt Refer to Appendix B drawings 370 3003 370 3018 and to 4 4 9 2 2 3 EXTERNAL PROGRAMMABLE CURRENT LIMIT Pins 1 and 3 of J3 can be used to externally program the current limit by connecting a resistor or potentiometer across them Refer to Appendix B drawing 370 3003 and to 4 4 11 224 AND LIMITS The GA370 may be configured for four different end of travel limit circuits Refer to Appendix B drawings 370 3018 and 370 3003 to implement these limits Type A Requires grounding of pin 6 or pin 7 to disable amplifier Type B Requires a positive voltage at pin 6 or pin 7 to disable amplifier Type C Requires the removal of a ground from pin 6 or pin 7 to disable amplifier Type D Requires the removal of a positive voltage from pin 6 or pin 7 to disable amplifier The amplifier is normally shipped with the type A and limit configuration 2 25 OUT TOTAL INHIBIT AND FAULT MONITOR LOCK OUT has two functions total inhibit and fault monitor When LOCK OUT is pulled to ground either by the amplifier fault sensing circuit or some external circuit the amplifier is totally inhibited See 4 4 7 and 6 2 4 6 2 7 2 2 6 CARRIER FREQUENCY The GA370 is provided with a carrier frequency of 20 KHz
41. using a DC tachometer for velocity feedback However the input summing amplifier can be reduced to a gain of one by connecting a 20 0K resistor across pins 1 and 4 of J3 The gain of the GA370 can then be adjusted from 0 to 3 Amps Volt A 40 2K resistor is available at pin 2 of J3 jumpering pin 2 to pin 1 will give a gain of two allowing the input to be adjusted from 0 to 6 Amps Volt Refer to Appendix B drawings 370 3018 and 370 3003 4 4 10 EXTERNAL PROGRAMMABLE CURRENT LIMIT Pins 1 and 3 of J3 can be used to externally program the current limit by connecting a resistor or potentiometer to them Refer to Appendix B drawing 370 3003 NOTE Proper signal shielding must be used a noisy signal can damage the output section of the amplifier GLENTEK Inc 208 Standard Street El Seaundo California 90245 U S A 310 322 3026 14 GA370 MANUAL WIIAFIEN J VIAN UF ALUUGGIIVILINI CHAPTER FIVE START UP AND ADJUSTMENT PROCEDURE 5 1 SAFETY PRECAUTIONS Before starting the adjustment and alignment procedure please be sure to observe the following precautions 1 2 3 4 5 6 7 Be certain that there are no visibly loose or damaged components Check that all connections are tight Check all power and signal wiring Remove power input fuses apply power and measure that correct power voltage is being applied Your DC Buss voltage will be 1 4 x the AC power applied Refer to Appendix A note 1
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