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1. T SEE 64 0096 com r RATE be Sob ACE 00982 n iforn 0 nd u n el e ua r 5 up Glentek Inc 208 Standa SMA8115 SMA8215 SMA8315 MANUAL 208455 BLUHA c x MP SINHA BINA LOENH OE SS oS Alo n naqa ndq A BORA SOUPE RM Dr 65 AMPLIFIER DRAWINGS APPENDIX A L 13365 ONY 335
2. 66 096 com A be SURGE Afar iforni uaran el pequndo Cal ua 4 Glentek Inc 208 Standa SMA8115 SMA8215 SMA8315 MANUAL Appendix B Personality Module 67 Glantek 498 Bla indard street Se g undo Calif alif 9 la 028 219 928 2280 PERSONALITY MODULE APPENDIX B ONT DILIN JD 8301440 WON NOISSIWSad IMOHIIM 3 0 5 AO ONTaNLova 03 T3SN SHLD 01 035072510 SLN3AQODG NGHIO Dl Q3NN34SNvSL 38 LON WHS ICI NDILISVASU 1 ONT INID 30 ALaadDad 3 150712 3 dS 0319 10150 SYM vz y 30d SIHLA NI G3NIVL T NUILVABHDJNI 7011 0008 OOad 1531 SLINISIO s Cg NI Lv InWADO
3. CHAPTER 3 MODEL NUMBERING 3 2 3 Two Three Phase Input Current Mode SMA8315XX QQQ 1 Amplifier Model Number Single Module Power Rating Optional Custom Omit Standard Configuration Code HP z High Power A numerical code will be assigned by Glentek to Pre amp Configuration Code amplifiers whose specifications vary from the standard Pre amp Configuration Code configuration 2 3 Phase Input Current Type A U 0 amp L 0 0 2 Phase Default Default 1 3 Phase 0 1 8 H 1 see section 2 9 Type C U 0 amp H 1 Inhibit OZL 1 H Type D D 1 amp L 0 see section 5 2 See section 5 2 gt Inhibit OZU 1 0 see section 5 2 Reset 0 L 1 H see section 5 2 Reset 0 U 1 D see section 5 2 On Board Power Supply 15V 5V on pull up 0 15V Default 1 5 see section 5 2 Motor Temperature 0 Type A Default 4 Bit Binary to 1 digital Conversion section 5 2 0000 0 1000 8 0001 21 1001 9 001022 1010 A DC Buss Voltage 0 70 240 001123 1011 B 1 240 350 0100 24 1100 C 0101 5 1101 D 0110 6 1110 0111 7 1111 F
4. fifi ff j nnnnnnnnnnn Affi n fl fi 5 RANGE OTOR TEMP AL RESET AH AL INHIBIT AH AL LIMIT PU PD RESET PD INHIBIT PD LIMIT ab IFFERI ENTAL INGLE ENDED SIGNAL Glentek Inc ANA ogy Street ELS RAD Calif gu ni a 902849 0 322 3026 72 SMA8115 SMA8215 SMA8315 MANUAL SILYWAH Dee NI71353s GA anims A 931312343 3SIABSHIU SSITNN S310N SI SI 32491127599 B T NI SI 3ONVISIS3S 1 q357 HUISNSISSI ISSHOIH ND 430 LISIHNI ES ara LIHIHNI 07430 ota lt 4 eT a LIAIHNI
5. ILIMIT VEL MODE COMMON INTEGRATOR ABS 82 SENSOR SELECT ITEM DESCRIPTION LIMIT MTR REVERSE 8 LIMIT TACH LEAD 10 INHIBIT J1 OFF ON 11 FAULT SIMULATED DISABLE 12 COMMON TACH REVERSE 13 RESET IN JE SPEED 14 MTR TEMP 15 DIG TACH OVERSPEED LEDS E HALL ERROR b A CAUTION HIGH VOLTAGE RESET SW 62 CHASSIS GND 1 1 MOTORT J 2 MOTORS 2 3 12 3 MOTORR AC INPUT ENSURE 2 THE UNIT MOTOR OUTPUT SMA8115 1A 1 TRAPEZOIDAL MODE BRUSHLESS AMPLIFIER GLENTEK MOTION CONTROL SOLUTIONS PLIFIER 59 Glantek ING ings ogy Standard Street Fl Segundo Califo for la dedo 3 19 4223986 APPENDIX AMPLIFIER DRAWINGS SILKSCREEN 501 502 RUN TEST TACH HS ECB POINTS COMP ILIMIT LS ECB LEDS COM OVER VOLT CUR MODE OVER TEMP _ VEL MODE BAL INTEGRATOR TACH REVERSE MTR REVERSE NOT USED ENCODE 125 128 1LIMIT SIGNAL 2 ENCODE 2 COMMON O
6. Y YOLOW TERMINAL BLOCK y 1 yolon lt x L PERSONALITY MODULE CAUTION HIGH VOLTAGE SMA8315 1 20 CURRENT MODE BRUSHLESS AMPLIFIER POWER BOARD P dl y MS 19895 dW31 _ pos MOVIH Sk ON 1ISIHNI LN N NI L3S3H ez annnnmanrmnmn 1485 wnt n n NIVO 16 n NIVO 59 993 61 SO3 SH MOTION CONTROL SOLUTIONS GLENTEK Glentek Inc Taos la 9 eot ELS RAD Calif gu nia 902455 US dure Dose 3026 com 58 SMA8115 SMA8215 SMA8315 MANUAL Vertical Plug in SIG 1 _ sic2 sic1 TEST TACH POINTS COMP 502 LSECB LEDS 1LIMIT COMMON r TACH OVERVOLT PULL LIMIT UP DN INHIBIT 2 OVERTEMP Gro Reser 8 BAL LIMIT INHIBIT COMP 1 SIGNAL 1 7 OFFION RESET 2 SIGNAL 1 TEMP 3 SIGNAL2 OFFION 15 55 4 COMMON 5 TACHOUT CUR MODE LOOP 6 7 8
7. MOTOR TEMP UEHHUHH AC U FAL 9 AARARARA INHIBIT 5 E E E El U le 20 150 27 Der 87 8 AARRABA le UEEEEHE 2 d BBRRBRRR le UFHHEEH Glentek Inc 2085 218 8 eot FL Sequndo California 90245 b Sob 0 988 3026 54 SMA8115 SMA8215 SMA8315 MANUAL ORPORATED LENTEX Ri KIRD R4 ORS 1843 02811 R47 23001 KIR16 GLENTEK ISSION FROM OF 55 Glentek ING ings ogy Standard Street Fl Segundo Calif alif 88 la dedo 840 2
8. ir O etr Y43HL 0350 SWHO NI N T E 395 SSIINN SONVLSISSY SOVEW AO HO IN SI 39NV1I9 531 ON L 3026 g com WARS SUPER SOURCE lw nde galifornia SOLOW 1 1 iss u NI L3S3 xn dW3l SOLOW NI 13538 NOWWOS 1703 LISIHNI LIWIA 0 LINIT sie c I sav NOWWOS 100 LIAIHNT SW3I SUIUW WS O SOLINOW C Ac EEE SMA8115 SMA8215 and SMA8315 MANUAL ard 111 51 989 Glantek Inca 498 el 53 APPENDIX A AMPLIFIER DRAWINGS 90245 RPORATED 208_STANDARD STREET SEGUNDO CALIF EL MOTOR R MOTOR 95 ITHOUT PRIOR ERMISSIUN FROM AN OFFICER OF GLENTEK INC THE INFORMATION RESET in AAARARA D _ gt 5
9. Glentek Inc 2085 218 8 ent ELiequpdo California 90245 t Sob 0 37373026 22 SMA8115 SMA8215 and SMA8315 MANUAL 3 3 Stand Alone Amplifier 3 3 1 Trapezoidal Mode SMA8115XX YYYY QQQ 1 1 ZZ RRR Amplifier Model Number Power Rating Omit Standard HP High Power 1 amplifier module mounted 3 3 2 Sine Resolver Mode Pre amp Configuration Optional Custom Configuration Code for the amplifier module Stand alone amplifier designator Optional Custom Configuration Code for the power supply and the regen circuit Power Supply Configuration Code 00 110 130VAC SINGLE PHASE 01 208 240VAC SINGLE PHASE 02 110 130VAC THREE PHASE 03 208 240VAC THREE PHASE 04 SPECIAL SMA8215XX YYYYYYY QQQ 1 1 ZZ RRR Amplifier Model Number Power Rating Omit Standard HP High Power Pre amp Configuration Code Optional Custom Configuration Code for the amplifier module Stand alone amplifier designator 1 amplifier module mounted 23 Glantek ING ins elandard street Ele Optional Custom Configuration Code for the power supply and the regen circuit Power Supply Configuration Code 00 110 130VAC SINGLE PHASE 01 208 240VAC SINGLE PHASE 02 110 130VAC THREE PHASE 03 208 240VAC THREE PHASE 04 SPECIAL quince Caria des UR ROL RENEE CHAPTER 3 MODEL NUMBERING 3 3 3 Two Three Phase Input Current Mode SMA8315X
10. DE lt A NI 505435 LIGIHNI dana b 13535 Cay der 31507 2 2 gt H 25 E Des INDIOS a NOTIvinwwoa LISIHNI Tee 0o NOWNOS SNDISIAZE 68 90488 HE SOURCE Pa AB com ndo u n et e ua r 5 up Glentek Inc 208 Standa SMA8115 SMA8215 SMA8315 MANUAL BALANCE COMP LIMIT LOOP CAIN ARABS HALL ERROR C OVERSPEED ARRARAR ARARAR r EEEEEEE CURRENT
11. 001 8000 1213 010 8000 1214 010 8000 1214 010 8000 1214 OFF 010 8000 1214 OFF 011 8000 1218 ON OFF ON 011 8000 1218 ON 011 8000 1218 ON ON OFF 011 8000 1218 OFF ON OFF eas OO ow on on s 1850 10r ON ON 14 OFF 3800 2 The BITS refer to the Resolver to Digital resolution which must be factory configured Encoder resolution may be changed at any time to a resolution which requires the same or fewer bits Increasing the bits increases the possible encoder resolution but decreases the maximum motor RPM refer to the table above The Tach Volts V 1000RPM are given for the MAX RPM of the BIT resolution Consult a Glentek applications engineer should you have any questions OFF OFF NOTE The MAX RPM in the above table is valid when RANGE S3 5 is ON The MAX RPM is half of what is shown in the table when RANGE S3 5 is OFF Glente Inc 7208 gab ELS RAD Calif gu ni a 90249 t Sob 0 37373026 36 SMA8115 SMA8215 SMA8315 MANUAL 5 4 4 Motor Pole Configuration Dip switch 53 1 S3 2 53 3 and S3 4 configures the pre amp for the number of poles in the motor They are also used to set up certain calibration modes Refer to the chart below and set the dip switches for the correct number of poles 2 Pole 4 Pole 6 Pole 8 Pole 10 Po
12. A 66v as LINO AOO L oru 70 ar 6 com 322 302 WW d88 be Soo 01 9 sb 4 Glen tek Inc 7298 manda SMA8115 SMA8215 SMA8315 MANUAL 83183ANOO S01VNV 1vLI9IQ 2 MOLVM3N39 3NIS NOLLISOd IWLIDIO 31110599 O1v10W3 43002N3 A 335 9f YSANO9 ATOS3M 11050 Y3M0S38 OL OE SS Alo n Gignieis Ine iy TY et RERUN te RAPE 71 APPENDIX PERSONALITY MODULE ATED REF PHASE DIFFERENTIAL SIGNAL GAIN SINGLE ENDED 5 WAL BALANCE COMP CURRENT LIMIT LVER x LOOP MOTOR INDEX R102 R 5L1 L1 Rot
13. aSvHa E SS Alo GEFs URGE Cali uaran ard Ar eet EL Segundo and Glantek Inca 498 el 73 APPENDIX PERSONALITY MODULE P2 kis 718151 EAS Ole 8 Deo Heg H AARARARA ARARAR o gt 25 BEEBEE 19 H8 13538 79 8 I c ess 1I81HNI 19 H8 DH cio ree 13538 dd nd LISIHNI Gd Nd its R30 LT c9 CD 1DdNI INANI 3SuHd sd R43 L 12 Ree IR rie pe 25 Rea ARRRRRR y M ELELEE NOWWOD INIA I 135 1 3SUHd 3SUHd Y 3SUHd Glentek loc TERR lard 5 e ab FLA URRIN do Calif 94 902889 01 822 1026 i SMA8115 SMA8215 SMA8315 MANUAL NOTES 75 Glentek Inca 498 Bla indard Street ELS t egundo 028 8 19 9229056 5 Glentek Inc 1508 la 9 eot ELS RAE Calif gu ni a 90249 0 322 3026 com 76 SMA8115 SMA8215 SMA8315 MANUAL NOTES 77 Glentek Inca 498 Bla indard
14. 15 MIR e ou RESET HI LOWS INHIBIT LIMIT RESET PULL UP DOWN INHIBIT L LIMIT wna 69 Glantek ING ings Standard Street Fl Segundo Calif alif 88 la 90845 840 22 8026 PERSONALITY MODULE APPENDIX B Sv206 41190 NADIS T 133315 d8v Nv1S 802 NI 12538 WAL LIBIHNI LINVA dWAL YOLOW 5 HOO TAL IDO TAA 1N3Y3INO OBIN310 4D 8301440 WOS4 N ISSIWs3d N3LL 5 ANY aD 941504993 204 9350 SS3HLD OL 035070514 SIN3WAIDA UHI 01 5 38 LON THS 31404 THL _ 30 SI NV 1319 5 nado S 5 13534 LISIHNI 1x3 13535 SAS IHNI SOLON E no ANAL q iu 2 25 NI dA3L 13538 Od 13534 gt gt 13535 1 34 Linva 1xa HpIH 440 NI LIBIHNI NI lt gt GL G 440 N3 9 7 ZS NI JIN
15. g undo Calif alif 88 la dedo 3 103 2218026 CHAPTER 3 MODEL NUMBERING Chapter Three Model Numbering 3 1 Introduction This chapter contains the model numbering system for the SMA8115 SMA8215 and SMA8315 single module stand alone one axis amplifier and multi axis applications The model numbering system is designed so that you our customer will be able to create the correct model number of the product that you need as quick and as accurately as possible 3 2 Single Amplifier Modules 3 2 1 Trapezoidal Mode SMA8115XX YYYY QQQ 1 Amplifier Model Number _______ Single Module Power Rating Optional Custom Omit Standard Configuration Code HP High Power A numerical code will be assigned by Glentek to amplifiers Pre amp Configuration Code whose specifications vary from the standard configuration Pre amp Configuration Code Limit O L 1 H see sect 5 2 lt Limit 0 0 120 15 2 Differential or Single ended input AAA 15 SEE ECD O Single ended Default Inhibit O L 1 H see sect 5 2 1 Differential Inhibit O U 1 D see sect 5 2 Velocity or Current Mode Reset O L 1 H see sect 5 2 0 Velocity 1 Current Reset 0 U 1 D see sect 5 2 see section 2 7 Board Power Supply Sensor Select 15 5 on pull up 0 Off 120 240 Default 0 15V Default 1 On 60 300 1 5V see 5 3 2 5 3 4 Motor Temperature Motor Reverse see section
16. 4 Glentek Inc 208 Standa SMA8115 SMA8215 SMA8315 MANUAL EUSLE OE SS Alo n AIRMEN Ine iy Rt RERUN Ie SOUPE RM 63 AMPLIFIER DRAWINGS APPENDIX A A 305 31V ld O 5 5 5 8 5 PIE le TP Te T 1 Te TE El le JE 212721 ET El AO EJ fe POPE
17. 6 4 1 Jg Mode Amplifier Calibration Procedure Velocity ode The amplifier in this configuration receives an analog bi polar input command which is proportional to the required motor velocity 1 the Current Limit RV7 to mid position and the Loop Gain RV8 full CCW 2 Apply main power and fan power 3 Slowly turn the Loop Gain RV8 CW The motor should be stopped or turning slowly If the motor starts running away turn Loop Gain pot RV8 CCW switch TACH REVERSE 51 5 from OFF to ON or vice versa and retest Leave the Loop Gain RV8 full CW for all remaining adjustments Set the Balance RV5 for zero motor rotation Connect the oscilloscope to ABS J1 7 and the battery box to Signal 2 Input The voltage at J1 7 is a function of motor current 1V 10A for SMA8X15 While applying a step input voltage adjust the Current Limit RV7 for the desired peak current If the desired peak current cannot be achieved with the pot full CW increase the input voltage or increase the Signal Gain 41 Glantek Ines 498 Bla indard street 5 g undo Calif alif 88 la 028 310 3 2218026 CHAPTER 6 START UP AND CALIBRATION The purpose of the following procedure is to set the system bandwidth to obtain a critically damped response with the maximum possible tach gain There are many possible settings of Tach Gain and Compensation which will yield a critically damped waveform The optimum setting
18. 7 Introduction Glentek s brushless DC motors and amplifiers offer the ultimate in low maintenance high performance motion control Glentek offers a full line of matched motors and amplifiers to meet virtually every motion control application This manual provides all the technical information necessary to install configure operate and maintain our TORQUE SWITCH series brushless servo motor amplifiers models SMA8115 SMA8215 SMA8315 the high power versions SMA8115HP SMA8215HP SMA8315HP These amplifiers combine the economy of trapezoidal drive current or the high performance of sinusoidal motor current with the efficiency of pulse width modulation PWM We suggest that you take the time to read this manual from cover to cover before attempting to work with these amplifiers for the first time If at any time you have questions not addressed in this manual or have any special requirements please feel free to call and discuss them with a Glentek applications engineer We are happy to provide both off the shelf and custom products With over three decades in the servo motor amplifier business we have a vast pool of applications knowledge waiting to assist you Thank you for selecting Glentek for your motion control needs It is our goal to save you time and money and to provide you with a superior product Glentek Inca 498 Bla indard street Se g undo Calif alif 88 la 028 310 3 2218026 CHAPTER 1 DESC
19. 4 rtisan Artisan Technology Group is your source for quality Technology Group new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OFTHOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment 7 EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com 7 information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED Contact 888 88 SOURCE sales artisantg com www artisantg com OPERATION amp SERVICE MANUAL for Torque Switch Series Model SMA8115 Model SMA8215 Model SMA8315 Brushless Amplifier System EK MOTION CONTROL SOLUTIONS MANUAL 8015 1040 REVISION E DATE 7 1 96 208 aron El Segundo California 90245 5 310 322 3026 eed 888 88 SOURCE www artisantg Artisan uality TABLE OF CONTENTS Introduction Chapter One Description Features and Specifications 1 1 Description 1 2 Features 1 2 1 Single Ampl
20. Phase R of the motor 4 4 2 Signal Connections for the Trapezoidal and Sine Resolver Mode Amplifier J1 Signal Name SMA8115 SMA8215 Notes Terminal SIGNAL 1 J1 1 Differential signal input SIGNAL 1 J1 2 Differential signal return SIGNAL 2 J1 3 Single ended signal 2 in COMMON J1 4 Single common TACH OUT J1 5 DC output proportional to RPM COMMON J1 6 Tachometer common ABS J1 7 Absolute value of the motor current 10A V LIMIT J1 8 Inhibits the motor in direction LIMIT J1 9 Inhibits the motor in direction INHIBIT J1 10 Inhibits the motor in both directions FAULT 1 11 Goes low for a fault on this amplifier or inhibits the amplifier when forced low COMMON J1 12 Digital common RESET IN 01 13 Resets fault latch MTR TEMP J1 14 Motor over temperature switch input DIG TACH SMA81 15 J1 15 Digital tach output in trapezoidal mode or N C SMA8215 Auxillary in sine resolver mode 29 Glantek Ines 498 Bla indard street Se g undo Calif alif 88 la 028 310 3 2218026 CHAPTER 4 INSTALLATION 4 4 3 Signal Connections for the Two Three Phase Current Mode Amplifier Signal Name Terminal Notes PHASE R J1 1 Sinusoidal input phase R PHASE R J1 2 Sinusoidal input phase R return PHASE S J1 3 Sinusoidal input phase S PHASE S J1 4 Sinusoidal input phase S return PHASE T J1 5 Sinusoidal input phase T COMMON J1 6
21. RV7 full CW for all remaining adjustments Set Balance RV4 for zero motor rotation Connect the oscilloscope to ABS J1 7 and the battery box to Signal 2 J1 2 and 3 for single ended signal input The voltage at J1 7 is a function of motor current 1V 10A for SMA8X15 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 pot RV6 full CW increase the input voltage or increase the corresponding Signal 2 Gain RV2 The purpose of the following procedure is to set the system bandwidth to obtain a critically damped response with the maximum possible tach gain There are many possible settings of Tach Gain and Compensation which will yield a critically damped waveform The optimum setting will occur when the Tach Gain is as CW as possible and the 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 the 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 RV3 set at 75 This is a good place to start If you are unsure of where the Tach Gain is set turn the Tach Gain fully CW up to 12 turns then CCW 4 turns Move the oscilloscope to the TACH OUT J1 5 set the battery box for a steady DC voltage and adjust the input voltage
22. 1 SCTAC CHOMETER 2 2 Velocity mode sevo loop for a brush type motor The servo loops of a brushless amplifier figure 2 2b operate in much the same way except there are now three current loops one for each phase of the motor i 1 TECCET H 1 MULTIPLEXER r Figure 2 2b Velocity mode sevo loop for a brushless motor 15 Glantek Inca 498 Bla indard street Se g undo Calif alif 88 la dedo 8 MK 2218026 CHAPTER 2 THEORY OF OPERATION 2 4 Brushed Motors vs Brushless Motors There are two basic types of motor design that are used for high performance motion control systems brush type PM permanent magnet and brushless type PM As you can see in figure 2 3 a brush type motor has windings on the rotor shaft and magnets in the stator frame In a brushless type motor the magnets are on the rotor and the windings are in the stator To produce optimal torque in a motor it is necessary to direct the flow of current to the appropriate windings with respect to the magnetic fields of the permanent magnets Ina brush type motor this is accomplished by using a commutator and brushes The brushes which are mounted in the stator are connected to the motor wires and the commutator contacts which are mounted on the rotor are connected to the windings As the rotor turns the brushes switch the current flo
23. 41 leso LH ETE Man gy P 1 PHASER 2 S ITEM DESCRIPTION CAUTION UN HIGH VOLTAGE Es CHASSIS GND 1 1 MOTORT 2 2 MOTORS 2 3 12 3 MOTOR Aa AC INPUT MOTOR OUTPUT SMA8315 1A 1 20 39 CURRENT MODE BRUSHLESS AMPLIFIER GLENTEK MOTION CONTROL SOLUTIONS JNTING 5 NOTE PLE 6l Glentek ING ings Standard Street Fl Segundo Calif alif 9 la 028 940 223026 AMPLIFIER DRAWINGS APPENDIX A D UD vida NMOHS Sv 530914 992 433 idis 62 096 com r be Sob AGE 00982 9 Californi el Flog
24. 5 normally OFF TACH LEAD OFF SIM TACH ON OFF ON SIM TACH DISABLE See section 5 3 6 normally OFF SIM TACH REVERSE See section 5 3 7 normally OFF SIM TACH SPEED See section 5 3 8 normally ON 5 3 3 Integrator Configuration Default S2 8 OFF The integrator switch is turned ON to lower the integration proportional break point in the velocity Proportional Integral Derivative PID loop The lower break point may be required with motors having high inductance amatures This switch should remain off unless instructed to turn on by a Glentek engineer 5 3 4 Hall Sensor Configuration Default S2 7 OFF There are four standard sensor configurations 60 120 240 and 300 The 60 300 and 120 240 sensor spacing are identical except for the direction of motor rotation which results To configure the amplifiers for 60 300 sensor configuration S2 7 ON To configure the amplifiers for 120 240 sensor configuration S2 7 OFF 5 3 5 Motor Reverse Configuration Default S2 6 OFF The motor reverse switch is turned ON to reverse the spinning direction of the motor for both current and velocity mode It can also solve the problem when a motor running away by reversing the polarity of the motor lead without physically reversing the motor lead 5 3 6 Simulated Tach Disable Configuration Default S2 3 0N The simulated tachometer disable is turned ON when extern
25. 5V Logic Level Configuration Default S2 1 OFF 15V 52 1 OFF e 5V 52 1 5 4 2 Standard Configuration for Sine Resolver Velocity Mode and urrent Mode Dip switch Velocity Mode Current Mode ENCODE 2 See section 5 4 3 ENCODE 125 128 See section 5 4 3 NOT USED OFF MTR REVERSE See section 5 3 5 normally OFF TACH REVERSE See section 5 3 7 normally ON INTEGRATOR See section 5 3 3 normally OFF VEL MODE CUR MODE 35 Glantek Inca 498 Bla indard street 5 9 Calif alif 88 la dedo 310 3 2218026 CHAPTER 5 CONFIGURATION 5 4 3 Encoder Output Resolution Configuration Refer to Appendix B drawing 8000 1430 and 8000 1431 There are nineteen standard resolutions Up to four resolutions are contained in a single PLD To configure the pre amp for a given resolution ensure that you have the correct PLD U13 and then configure the dip switches 51 1 S1 2 S3 7 and S3 8 as shown below The PLD code refers to the table in the model numbering chapter and the PLD part number is marked on the part 51 2 Li 53 7 53 8 Max Tach Volts Min RPM V 1000RPM S3 5 0N Resolution PLD PLD Code Part Number 125 000 8000 1212 ON 128 000 8000 1212 ON 250 000 8000 1212 OFF 256 000 8000 1212 OFF 500 001 8000 1213 ON 001 8000 1213 ON 001 8000 1213 OFF OFF ON ON OFF 10 10 10
26. 9 00 x 10 50 x 7 70 SMA8X15 4A 4 4 Axis Amplifier System 13 00 x 10 50 x 7 70 SMA8X15 6A 6 6 Axis Amplifier System 16 50 x 10 50 x 7 70 13 Glantek Inca 498 Bla indard street Se g undo Calif alif 88 la 028 310 3 2218026 CHAPTER 2 THEORY OF OPERATION Chapter Two Theory of Operation 2 1 Introduction This chapter contains the basic control theory of how brush type and brushless servo motors and amplifiers operate It also compares and contrasts the advantages and disadvantages of brushless and brush type motors and amplifiers to help you select which is best suited for your application The following is a summary of the topics The theory behind an amplifer driving DC servo motors A comparison between brush type and brushless motors A comparison between trapezoidal mode and sinusoidal mode amplifier system The advantages and disadvantages of trapezoidal mode amplifier systems A comparasion between velocity mode and current mode Various kinds of velocity feedback Commutation using resolver Current mode in sine resolver or trapezoidal amplifier vs two three phase input currenamplifier e Protection circuits 2 2 Driving DC Servo Motors The torque of any DC motor is proportional to motor current the stronger the magnetic field the stronger the pull Motor current may be controlled in two ways linear and PWM Pulse Width Modulation Linear control is achieved by simply inserting a res
27. Configuration 5 4 4 Motor Pole Configuration 5 5 Two Three Phase Input Current Mode Amplifier Configuration 5 5 1 15V 5V Logic Level Configuration 5 5 2 Standard Configuration Chapter Six Start Up and Calibration 6 1 Introduction 6 2 Initial Start Up 6 3 Trapezoidal Mode Amplifier Calibration 6 3 1 Velocity and Simulated Velocity Mode Calibration Procedure 6 3 2 Current Mode Calibration Procedure 6 4 Sine Resolver Mode Amplifier Calibration 6 4 1 Velocity Mode Calibration Procedure 6 4 2 Current Mode Calibration Procedure 6 5 Two Three Phase Input Current Mode Amplifier Calibration 6 5 1 Two Phase Input Current Mode Calibration Procedure 6 5 2 Three Phase Input Current Mode Calibration Procedure Glentek Inc 2085 218 uen California 90245 t Sob 0 9885896 com A SMA8115 SMA8215 SMA8315 MANUAL 6 6 Calibration Setup Record 6 7 Resolver Alignment Procedure Chapter Seven Maintenance Repair and Warranty 7 1 Maintenance 7 2 Amplifier Faults 7 2 1 Table of Fault LED Conditions 2 2 Under Voltage Fault 2 3 Motor Over Temp Fault 2 4 High Speed Electronic Circuit Breaker HS ECB Fault 2 5 Low Speed Electronic Circuit Breaker LS ECB Fault 2 6 Over Temp Fault 2 7 Over Voltage Fault 7 2 8 Resetting A Fault 7 7 7 7 7 7 7 3 Amplifier Failure 7 4 Factory Repair 7 5 Warranty Appendix A Amplifier Drawings SMA8015 Brushless Power Board Installation Schema
28. DC mechanical tachometer Simulated tachometer using the motor commutation signals PSEUDO TACH Sinusoidal resolver Simulated tachometer using the encoder signals The simplest way to simulate the actual velocity of the motor is by installing a mechanical brush type or brushless DC tachometer on the motor shaft which converts the velocity of the motor into DC voltage The second method is to synthesize a digital tachometer using the motor commutation signals refer to section 2 6 The SMA8115 provides this option In the third method with sine resolver amplifier SMA8215 an analogue tachometer signal is generated as part of the Resolver to Digital conversion process and is immediately available for use thru the dip switch options for velocity mode S1 7 The fourth method is to have an optical encoder installed on the motor shaft to determine the direction and position of the motor as it runs The incoming encoder signals are converted into quadrature clock pulses The frequency of this clock pulses changes with the velocity of the motor and the up down clock output signals change with the direction of which the motor is running at The frequency of the clock is then converted into the tach DC voltage signal using the Frequency to Voltage converter 2 9 Commutation Using Resolver The Resolver to Digital converter in the SMA8215 generates the necessary excitation for the resolver and converts the resolver s sine and cosi
29. Section 2 5 dicusses these waveforms ON TIME wJ ER 5 CARRIER FREQ MOTOR VOLTAGE MOTOR CURRENT ICDA Figure 2 1 Pulse Width Modulation Waveform Glentek Inc 2085 218 8 ent California 90245 t Sob 0 37373026 com 14 SMA8115 SMA8215 and SMA8315 MANUAL 2 3 Servo Loops A basic velocity mode servo loop for a brush type motor is shown in figure 2 2a 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 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 linear or PWM 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 CURRENT LOOP 1 1 1 1 1 1 1 1 Z y CURRENT D 1 1 1 1 1 1
30. Street ELS t egundo Ruz for la 028 8 19 9229056 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 amplifiers 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 Continuous Torques to 1100 in lb e Peak Torques to 2200 in Ib GLENTEK MOTION CONTROL SOLUTIONS 208 STANDARD STREET EL SEGUNDO CALIFORNIA 90245 USA TELEPHONE 310 322 3026 FAX 310 322 7709 208 Standard Street El Segundo California 90245 U S A 210 322 3026 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 50 www artisantg com 4 rtisan Artisan Technology Group is your source for quality Technology Group new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OFTHOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment 7 EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE IN
31. Three Phase Input Current Mode SMA8315 SMA8315HP In the two phase current mode the amplifier generates three sine wave currents that are proportional to two input signals This third command is generated on the personality module as the negative sum of the other two signals In the three phase current mode the amplifier generates three sine wave currents that are proportional to three input signals Please see section 2 5 2 9 of this manual for more detailed information Glentek Inc 2085 219 8 uen ELiequpdo California 90245 t Sob ACE 0 37373026 com 8 SMA8115 SMA8215 SMA8315 MANUAL These brushless amplifiers come with all industry standard inputs such as limit fault output etc They are available in the following types of configurations As amplifier modules where you supply the DC Buss voltage cooling fan s fusing and shunt regulator Please see section 1 2 1 for more detailed information As stand alone one axis amplifier SMA8X15 1A 1 which contains a DC power supply cooling fan fusing and shunt regulator Please see section 1 2 2 for more detailed information For multi axis applications the multi axis baseplate power supply can supply DC power cooling fans zero crossing solid state relays fusing and a shunt regulator for up to 6 axis or 60 amperes continuous Please see section 1 2 3 for more detailed information 1 2 Features 1 2 1 Single Amplifier Module SMA8X15 1 Ergonomic desig
32. a latched condition The following is a list of possible causes 1 The continuous motor current is too high 2 Binding or stalling of motor shaft due to excessive mechanical overload 3 Motor rating too small for the load 7 2 4 High Speed Electronic Circuit Breaker HS ECB Fault When the peak output of the amplifier exceeds 80A for 10 micro seconds the Run LED will turn off the HS ECB LED will turn on and a Fault Output is generated and the amplifier is inhibited Note This is a latched condition The following is a list of possible causes 1 Shorted motor leads 2 Motor inductance too low 3 Short from a motor lead to ground 7 2 5 Low Speed Electronic Circuit Breaker LS ECB Fault When the RMS output of the amplifier exceeds 15 10A for standard 120 240VAC or 20 15A for High Power 120 240VAC for 3 seconds the Run LED will turn off the LS ECB LED will turn on and a Fault Output is generated and the amplifier is inhibited Note This is a latched condition The following is a list of possible causes 1 Binding or stalling of motor shaft due to excessive mechanical overload 2 Overload of amplifier output to motor 3 Large reflected load inertia 49 Glantek Inca 498 Bla indard street Se g undo Calif alif 88 028 310 3 2218026 CHAPTER 7 MAINTENANCE REPAIR and WARRANTY 7 2 6 Over Temp Fault When the heatsink and or motor temperature has reached a level that if exceeded would damag
33. and one or more of the fault LED s are lit review the sections which follow on the fault in question for information and possible causes A FAULT CAN ONLY BE CAUSED BY ABNORMAL CONDITIONS LOCATE AND CORRECT THE CAUSE OF THE FAULT BEFORE REPEATED RECYCLING OF POWER TO THE AMPLIFIER TO PREVENT POSSIBLE DAMAGE 7 2 1 Table of Fault LED Conditions Condition LED LED LED LED LED OUTPUT Normal Operation Limit ON Limit ON Inhibit ON Reset In ON Ext Fault ON Undervoltage 15V HS ECB Latched LS ECB Latched Over voltage B Latched Overtemp Latched Glentek 7208 gab ELS RAE Calif gu ni a 90249 t Sob 0 37373026 com 48 SMA8115 SMA8215 and SMA8315 MANUAL 7 2 2 Under Voltage Fault When the 15VDC is below 12VDC a level that would cause unreliable operation the Run LED will turn off a Fault Output is generated and the amplifier is inhibited This is not a latched condition that is if the problem is resolved the amplifier will resume operation The following is a list of possible causes 1 Main AC line voltage is too low 2 Bad rectifier bridge 3 Bad DC buss filter capacitor 7 2 3 Motor Over Temp Fault When the motor temperature has reached a level that if exceeded would damage the motor the Run LED will turn off the OVER TEMP LED will turn on and a Fault Output is generated and the amplifier is inhibited Note This is
34. in one of eight modes The first six modes set the number of motor poles One pole corresponds to one magnet thus a motor with two north and two south magnets has four poles The number of electrical revolutions is equal to one half the number of poles An electrical revolution refers to the arc length the motor will rotate when one complete sine wave is applied Therefore a four pole motor has two electrical revolutions and requires two sine waves to make one mechanical shaft revolution The significance of this is any motor with more than one electrical revolution will have more than one electrical index 0 9 position while there is only one mechanical index From an electrical viewpoint any index may be used however from a mechanical vie wpoint using a different electrical index may alter the mechanical index by as much as 180 from its previous position This will show itself as a change in where the encoder index channel C pulse occurs Note that the emulated encoder has an index per mechanical shaft revolution Of the remaining two modes the INDEX is used to generate an index output and is used for resolver alignment 2 Pole 4 Pole 6 Pole 8 Pole 10 Pole 12 Pole Zero Index Glentek Inc 1208 gab ELS RAE Calif gu ni a 90249 t Sob 0 35373026 46 8115 SMA8215 SMA8315 MANUAL Procedure 47 All adjustments are made to the 8000 14 Sine R
35. necessary electronics for motor commutation and also has the PSEUDO TACH option for better speed control 2 7 Current Mode vs Velocity Mode The fundamental difference between current mode and velocity mode is that in current mode an external command signal controls the torque of the motor rather than the velocity In velocity mode an external command signal controls the velocity RPM of the motor rather than the torque In a current mode amplifier the command signal is proportional to the motor current thus it is also proportional to the torque of the motor In a velocity mode amplifier the current loop amplifier stage is preceded by a high gain error amplifier which compares the command signal and the tachometer feedback signal Current mode amplifiers are usually used in Position Control Systems where no tachometer feedback is required While velocity mode amplifiers are usually used in Classic Cascaded Contol Systems where there are position velocity and current loops in the system Velocity loops tend to have a higher bandwidth and operate better near zero speed Glentek Inc 2085 218 8 ent FL Sequndo California 90245 t Sob 0 37373026 com 18 SMA8115 SMA8215 SMA8315 MANUAL 2 8 Tachometer Velocity Mode Feedback Options The following is a list of ways one can choose to implement tachometer feedback in order to drive the motor through a velocity controlled servo loop Brush type and brushless
36. will occur when the Tach Gain is as CW as possible and the 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 75 This is a good place to start If you are unsure of where the Tach Gain is set turn the Tach Gain fully CW up to 12 turns then CCW 4 turns Move the oscilloscope to the TACH OUT J1 5 set the battery box for a steady DC voltage and adjust the input voltage or Signal 2 gain for about 400RPM Pulse the input and compare the waveform with figure 6 1 Adjust the Compensation pot CCW until the waveform is critically damped or one hook overshoot Then proceed to step 10 If the desired waveform cannot be obtained by adjusting the Compensation pot back off CCW the Tach Gain pot a few turns and repeat step 8 Do not adjust the Tach Gain or Compensation pots for the rest of the calibration procedure 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 battery box for a known DC voltage Adjust Signal 1 Gain RV3 or RV2 for differential input to obtain the desired motor velocity If the motor is rotating in the wrong directio
37. 0 4 1100 C 1 1 0101 5 1101 0 0 0 0 0 1 1 256 250 128 125 1024 1000 512 500 4096 4000 2048 2000 3600 2160 720 360 625 1250 2500 NA Special 0110 6 1110 E 0111 7 1111 F Type A U 0 amp L 0 Default Type B D 1 amp H 1 Type C U 0 amp H 1 Type D D 1 amp L 0 Bit Resolution See section 5 2 See 5 4 3 Limit O L 1 H 0 5 10Bit Limit OZU 1 0 1 12Bit Inhibit OZL 1 H 0 14 Bit Inhibit 0 0 1 0 Reset OzL 1 H Reset 0 U 1 0 15V 5V on pull up 0 15V Default 1 5V Motor Temperature A Default 1 Type C Diff Single ended input O Single Default 1 Differential elocity or Current Mode 0 12Current JL see section 2 7 Motor Reverse Default 1 ON see section 5 3 5 ach Reverse 1 Default O OFF see section 5 3 7 DC Buss Voltage 0 70 240 0 1 0 1 0 1 0 1 amp amp amp 0 1 1 0 1 240 350 Vdc 2 Special sy 21 Glentek ING nS Bla indard street Se 9 Calif alif 88 la dedo sU Rt 3 MK 2218026
38. 026 56 SMA8115 SMA8215 SMA8315 MANUAL CORPORATED GLEN ll 1 CJ M YOLON TERMINAL BLOCK 5 YOLOW PERSONALITY MODULE PRE AMP 1 YOLOW CAUTION HIGH VOLTAGE 8 SMA8215 1 SINE RESOLVER MODE 8 POWER BOARD BRUSHLESS AMPLIFIER d 8 2858 8 2988 ENCODER RESOLVER PREAMP E lt lt aim NIN NO 440 40 440 ILo pi 40 440 dn Tind 1 LION YAO y 909 81 SO3 SH MOTION CONTROL SOLUTIONS GLENTEK 57 Glantek ING 408 Standard Street Fl Segundo Califo for 028 3 9 928 12180 APPENDIX A AMPLIFIER DRAWINGS SLENTER N PA PN PN EN P V X X NU Y Af
39. 2 3086 APPENDIX A AMPLIFIER DRAWINGS SILKSCREEN OIDAL BRUS AMPLIFIER TRAPE MP Y HOLON TERMINAL BLOCK YOLOW PERSONALITY MODULE PRE AMP CAUTION HIGH VOLTAGE YOLOW 9 SMA8115 1 TRAPEZOIDAL MODE BRUSHLESS AMPLIFIER pase POWER BOARD N z L TIVH 9 NONNOD TIVH PREAMP MAIN AMP papa 91 MS 13534 e HOV dW31 YLW NI 13S3H NOWWOO AIBIHNI 8 dW31 110 83 0 893 81 HO3 SH 5 qgvsia NO 440 Qv31 HOVL 991 SOW adon Yno 2 HOWL 99395 dSudAdH N asyay 0 Tas YOSNIS NO 440 MOTION CONTROL SOLUTIONS BIKGLENTEK Glentek Inc 2085 standard 8 uen FL Sequndo California 90245 HS ACE 0242 3
40. 215 SMA8315 MANUAL Brushless Motors Amplifiers Brushed Motors Amplifiers Advantages Disadvantages No scheduled maintenance and no brush dust Motor brushes must be checked periodically for is generated wear and excess brush dust Higher RPM limits Approximately 3000RPM maximum Lower inertia torque ratio Higher inertia to torque ratio Dissipates heat more efficiently due to windings Not as efficient at dissipating heat Heat is being located in stator trapped at rotor and shortens bearing life Safer for explosive atmospheres Quieter and Brushes spark and generate electrical and less electrical noise generated audible noise Disadvantages Advantages Amplifiers are complicated and expensive Amplifiers are simpler and less expensive Higher torque ripple Lower torque ripple No Industry standard packaging Industry standard packaging 2 5 Sinusoidal vs Trapezoidal Figure 2 4 shows the two most common waveforms used to drive a brushless motor Note that in each case there are actually three different waveforms Each waveform drives a motor winding and is 120 out of phase with the other two Again the waveform may be generated from a DC source by linear or PWM techniques bor ROTATION TRAPEZOIDAL SINUSOIDAL THE SINE FUNCTION Figure 2 4 Trapezoidal and sinusoidal waveform used to drive brushless motor The first waveform is known as trapezoidal or six step since the voltage
41. 5 2 0 Off Default A active low Default 1 On 1 Type C active high see 5 3 2 5 3 5 4 Bit Binary to See section 5 2 Digital Conversion Type A U 0 amp L 0 Default 0000 0 1000 8 0001 1 1001 9 Type C U 0 amp H 1 _ Type D D 1 amp L 0 0010 22 1010 DC Buss Voltage 001123 1011 B 0 70 240 0100 4 1100 C 1 240 350 0101 5 1101 D 0110 6 1110 0111 7 1111 Glentek Inc 2085 218 8 uen California 90245 b Sob 0 37373026 20 SMA8115 SMA8215 SMA8315 MANUAL 3 2 2 Sine Resolver Mode SMA8215XX YYYYYYY 000 1 Amplifier Model Number L Single Module Power Rating Optional Custom Omit Standard Configuration Code HP High Power A numerical code will be assigned by Pre amp Configuration Cod Glentek to amplifiers whose specifications vary from the standard configuration Pre amp Configuration Code 4 BIT Binary to Number of 53 1 53 2 53 3 53 4 PLD Device Encoder Resolution digital Conversion Motor Poles Code See section 5 4 3 0000 0 1000 8 See section 5 4 4 See 5 4 3 0001 21 1001 9 1 0 0010 2 1010 1 0 0011 3 1011 B 1 1 010
42. GAT terminal block and the PHOENIX connector are two options one can choose to use for the power connector The specifications of these connectors are listed as follow AUGAT RDI 6 Series Tri Barrier Terminal Blocks PART 6PCR 05 Default Screw Size Spacing 6 6 32 on 375 centers Terminal Style PC Printed Circuit Pin Terminal Orientation R Right Angle Number of Screw Terminals 05 5 screw positions Terminal lugs Thomas amp Betts PART A116 for 18AWG wire PART B19 for 14AWG wire and PART C133 for 12 10AWG wire AUGAT RDI 6 Series Tri Barrier Terminal Blocks PART 6PCV 05 Screw Size Spacing 6 6 32 on 375 centers Terminal Style PC Printed Circuit Pin Terminal Orientation V Vertical Angle Number of Screw Terminals 05 5 screw positions Terminal lugs Thomas amp Betts PART A116 for 18AWG wire PART B19 for 14AWG wire and PART C133 for 12 10AWG wire PHOENIX CONTACT COMBICON Headers and Plugs with 7 62mm pitch Header P N GMSTBA 2 5 5 G 7 62 Plug P N GMSTB 2 5 5 ST 7 62 Header with side panels plug in direction parallel to PCB 5 positions Color green 27 1 989019 A ROPER SCORE Lom CHAPTER 4 INSTALLATION 4 3 3 2 The Signal Connector The signal connectors are supported by the molex KK 100 2 54mm Centerline Connector System e Ji of the Main Ampl
43. Glentek sells a battery box BB 700 which is ideal for this function 6 2 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 appropriate calibration procedure Check for any loose or damaged components Check that all connections tight 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 Disconnect the signal and ay inputs Be sure the Loop Gain pot s are tully CCW Remove input fuses on the baseplate and apply main power Check for the correct AC voltage at fuse block The DC Bus amplifier supply voltage will be 1 4 times this value If voltage is correct remove power and reinstall fuses Work on only one amplifier at a time 6 3 Trapezoidal Mode Amplifier Calibration The following pots will be set during calibration Note RV1 RV6 are 12 turn pots and RV7 is a single turn pot SIG 1 Sets the input voltage to RPM ratio e g 10V 2000RPM velocity Differential Input mode or input voltage to torque ratio e g 10V 25A current Signal Gain mode required by your system for the differential signal input SIG 2 Same as Signal 1 input except it is for the single ended signal Single ended jinput Input Signal Gain TACH Used in conjunction with the compensation pot to set the s
44. RIPTION FEATURES AND SPECIFICATIONS Chapter One Description Features and Specifications 1 1 Description This brushless amplifier system has been designed to offer you our customer a large degree of flexibility and customization with a standard in stock product Each amplifier module consists of a standard power output board with one of our three types of personality modules mounted on it To help you understand the various brushless amplifier and motor system combinations and their respective advantages and disadvantages please refer to chapter two of this manual which describes the theory of operation Following is a brief description of these three personality modules and their mode s of operation e Trapezoidal Mode SMA8115 SMA8115HP In this mode of operation which is also referred to as six step the brushless motor is commutated by hall sensors or an encoder which contains these commutation signals This personality module can be configured for the following three different types of operation e VELOCITY MODE In this mode of operation a velocity signal from a brushless or brush type tachometer is used to close a velocity loop in the amplifier Please see section 2 3 2 7 2 8 of this manual for more detailed information SIMULATED VELOCITY MODE In this mode of operation a circuit on the personality module looks at the hall sensors and generates a simulated velocity signal which is used to close a veloc
45. SPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com 7 information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED Contact 888 88 SOURCE sales artisantg com www artisantg com
46. Signal common ABS J1 7 Absolute value of the motor current 10A V 1 8 No connection 1 9 No connection INHIBIT J1 10 Inhibits the motor in both directions FAULT J1 11 Goes low for a fault on this amplifier or inhibits the amplifier when forced low COMMON J1 12 Digital common RESET IN J1 13 Resets fault latch MTR TEMP J1 14 Motor over temperature switch input 1 15 No connection Glentek Inc 2085 218 8 ent FL Sequndo California 90245 t Sob 0 37373026 com 30 SMA8115 SMA8215 SMA8315 MANUAL 4 4 4 Signal connections for the Trapezoidal Mode Pre amp Signal Name 15 VDC 15V for external brushless tachometer 15 VDC 15 for external brushless tachometer TACH External tachometer input if used COMMON External tachometer common HALL 15 15V power for Hall effect sensors HALL 5 5V power for Hall effect sensors HALL 1 Hall sensor 1 Check motor data for phasing HALL 2 Hall sensor 2 Check motor data for phasing HALL 3 Hall sensor 3 Check motor data for phasing COMMON Common for hall sensors 4 4 5 Signal connections for the Sine Resolver Mode Pre amp Signal Terminal Notes Name Encoder Output J4 Phase A signal output Negative phase A signal output Phase B signal output Negative phase B signal output Phase Z signal output Negative phase Z sign
47. Supply GP8600 203X e Power supply for 2 to 6 axis amplifier baseplate e Line operated AC power operation Fused AC input for single or three phase inputs with a solid state zero crossing switch which limits in rush current at turn on No power isolation transofrmer is required Fused regen circuit shunt regulator with LED indicator and 300W internal load resistor bank bleeds off excess DC Buss voltage when decelerating a large load inertia Additional regen resistor can be connected externally Bridge rectifier s and filter capacitor Power turn on in rush limiter solid state zero crossing switch Cooling fans 11 Glentek ING ina 8 Bla indard street Se g undo Calif alif 88 la 028 8 103 2218026 CHAPTER 1 DESCRIPTION FEATURES AND SPECIFICATIONS 1 3 Specifications This section contains the specifications for the brushless trapezoidal sine resolver and two or three phase input current mode D C Servo Amplifiers These specifications also include power supplies for the amplifiers NOTE All data in this section is based on the following ambient conditions 120 F 50 C maximum Forced air cooling 1 3 1 Single Amplifier Module SMA8X15 1 The amplifier module s require an external DC power supply which must include bridge rectifier buss capacitor solid state relay and shunt regulator Forced air cooling is required to meet the maximum power ratings specified below 1 3 1 1 Input and Outpu
48. UT LOOP COMMON PULL LIMIT COMP SIGNAL 1 7 SIGNAL 1 ABS UP DN INHIBIT ITEM DESCRIPTION LIMIT OFF ON INDEX 1 2 3 4 5 6 7 8 9 LIMIT 10 INHIBIT J1 11 FAULT 12 COMMON 13 RESET IN 14 MTR TEMP 15 NIC _ OFFION 15 5 RESET SW z 5 A CAUTION O HIGH VOLTAGE CHASSIS GND 1 1 MOTOR T 2 MOTORS Y to 3 AD AC INPUT MOTOR OUTPUT SMA8215 1A 1 SINE RESOLVER MODE BRUSHLESS AMPLIFIER GIK GLENTEK MOTION CONTROL SOLUTIONS Glentek Inc 1208 standard Street ELS RAD Calif gu nia 90249 b Sob ACE 0 393 3026 com 60 SMA8115 SMA8215 SMA8315 MANUAL ch 62m Vertical Plug in 7 RUN LS ECB LEDS J3 TEST PHASE POINTS ILIM SET OVER VOLT I LIMIT COMMON OVER TEMP oR GAIN 25 GAIN 2 PHASER 3 PHASES 4 PHASES 5 S COMMON ILIM SET 7 ABS 8 J1 9 NIC 10 INHIBIT 11 FAULT 12 COMMON 13 RESETIN 14 MTR TEMP 15 NIC
49. W Remove battery box and repeat step 3 Calibration complete Reconnect signal wires Glentek Inc 2085 218 8 ent FLSequndo California 90245 t Sob 0 37373026 com 40 SMA8115 SMA8215 SMA8315 MANUAL 6 4 Sine Resolver Mode Amplifier Calibration The following pots will be set during calibration Note RV1 and RV8 are single turn pots RV2 RV7 and RV9 RV14 are 12 turn pots Note RV9 RV14 are factory set and should not be adjusted Adjusting these pots voids warranty SIG 1 Sets the input voltage to RPM ratio e g 10V 2000RPM velocity Differential Input or input voltage to torque ratio e g 10V 25A current mode Signal Gain required by your system for the differential input SIG 2 Same as Signal 1 input except this is for single ended input Single ended Input Signal Gain TACH Used in conjunction with the compensation pot to set the system Tach Gain bandwidth Not used in current mode Shipped set at 75 BAL Balance Used to null any offsets in system COMP Used in conjunction with the TACH pot to set the system bandwidth Compensation Not used in current mode Shipped set at full CW minimum bandwidth I LIMIT Sets the maximum motor current Shipped set at full CW maximum Current Limit current limit LOOP Used to shut off uncalibrated amplifiers When the loop gain is Loop Gain CCW no current is delivered to the motor Shipped set at full CCW
50. X YYY 000 1 22 RRR Amplifier Model E Optional Custom Configuration Code Power Rating for the power supply Omit Standard and the regen circuit HP High Power Power Supply Pre amp Configuration Code Configuration Code 00 110 130VAC SINGLE PHASE Optional Custom Configuration Cod 01 208 240VAC SINGLE PHASE for the amplifier module 02 110 130VAC THREE PHASE 03 208 240VAC THREE PHASE Stand alone amplifier designator 04 SPECIAL 1 amplifier module mounted Glentek Inc 2085 218 8 ent FL Sequndo California 90245 t Sob 0 37373026 24 SMA8115 SMA8215 SMA8315 MANUAL 3 4 Multi Axis Amplifier SMA8_15XX 8 15 Type amplifier module Optional Custom 1 Trapezoidal mode Configuration Code for power 2 Sine Resolver mode supply and regen circuit 3 Two Three phase input current mode Power Supply Power Rating Configuration Code Omit Standard 00 110 130VAC HP High Power 01 208 240VAC 02 SPECIAL Pre amp amp Custom configuration code see sect 3 2 1 3 2 2 3 2 3 The total number of amplifier modules mounted on the baseplate Second type of amplifier module on baseplate Maximum number of amplifier modules the baseplate will Number of this type of amplifier module s used hold 2 2 axis baseplate 4 4 axis baseplate Pre amp configuration code for second type of amplifier if it is 6 6 axis baseplate different from the first amplifier s co
51. al output Common ground Resolver J5 Sine signal input Sine Cosine return Cosine signal input Excitation return Excitation signal input 31 Glentek ING ina 8 Bla indard street Se g undo Calif alif 88 la 028 310 3 2218026 CHAPTER 4 INSTALLATION 4 5 Stand Alone Amplifier Connections SMA8X15 1A 1 The Stand Alone Amplifier has the same signal connections as the Single Amplifier Module The Power and Motor connections are as follows 4 5 1 Motor Connections J2 Signal Name Terminal Notes MOTOR T J2 1 Motor phase T MOTOR S J2 2 Motor phase S MOTOR R J2 3 Motor phase R 4 5 2 Power Connections J6 Signal Name Terminal Notes GND J6 1 Chassis ground AC J6 2 AC power input Omit for single phase input AC J6 3 AC power input AC J6 4 AC power input 4 6 Multi Axis Power Supply Connections Connector TB201 is shown in the following drawings 8000 1833 for 2 axis baseplate 8000 1835 for 4 axis baseplate and 8000 1837 for 6 axis baseplate Fuse Block FB301 is shown in drawings 8600 2030 and 8600 2031 All of the above drawings are in Appendix A Signal Name Terminal Notes AC FAN TB201 on baseplate AC fan power input AC FAN TB201 on baseplate AC fan power input AC MAIN FB301 on Power Supply AC main power input Sub assembly AC MAIN FB301 on Power Supply AC main power input Sub assembly AC MAIN FB301 on Power Supply AC main
52. al tachometer is used Glentek Inc 2085 219 8 uen FLSequndo California 90245 b Sb ACE 0 37373026 com 34 SMA8115 SMA8215 SMA8315 MANUAL 5 3 7 Simulated Tach Reverse Configuration S2 2 Default OFF The simulated tachometer reverse switch is turned ON to reverse the spinning direction of the motor or prevent the motor from running away in case of incorrect polarity of the feedback signal 5 3 8 Simulated Tach Speed Configuration S2 1 Default ON The simulated tach speed switch should be ON unless the user cannot reach the maximum rpm required per the following formula Low Speed Applications S2 1 ON MAX RPM at 25500 number of motor poles High Speed Applications S2 1 OFF MAX RPM at 51000 number of motor poles 5 4 Sine Resolver Mode Amplifier Configuration The following table shows the dip switches that need to be configured for the Type A B C and D configurations The standard configuration is shown in bold LIMITO S2 8 OFF 52 5 ON S2 8 ON S2 5 OFF S2 8 OFF S2 5 OFF S2 8 ON S2 5 ON INHIBIT S2 7 OFF S2 4 ON S2 7 ON S2 4 OFF S2 7 OFF S2 4 OFF S2 7 ON S2 4 ON RESET IN S2 6 OFF S2 3 ON S2 6 ON S2 3 OFF S2 6 OFF S2 3 OFF S2 6 ON S2 3 ON MTR TEMP S2 2 ON not available S2 2 OFF not available FAULT standard not available not available not available 5 4 1 15V
53. alance pot should not be measured in this fashion set per step 4 in the calibration procedure PouDip Switches AMP1 AMP2 AMPS AMPA 5 TACH 3 to J3 F W SIG 1 J3 A to W SIG 2 J3 B to J3 F W COMP J3 D to J3 F W CURRENT J3 E to J3 F W Signal input to Tach ratio _V Signal V Tach LIMIT PULL UP DN 1 8 8115 S2 8 8215 INHIBIT PULL UP DN 1 7 8115 S2 7 8215 S1 5 8315 RESET PULL UP DN 1 3 8115 S2 3 8215 S1 4 8315 LIMIT ACTIVE HI LOW 1 5 8115 S2 5 8215 INHIBIT ACTIVE HI LOW 51 4 8115 S2 4 8215 51 3 8315 RESET ACTIVE HI LOW 1 3 8115 S2 3 8215 S1 2 8315 TEMP ACTIVE HI LOW 51 2 8115 S2 2 8215 S1 1 8315 15 5 S1 1 8115 S2 1 8215 S1 6 8315 Date data taken po Serial number S N Model number SMA Glantek Inca 498 Bla indard street Se g undo Calif alif 88 028 310 3 2218026 CHAPTER 6 START UP AND CALIBRATION 6 7 Resolver Alignment Note Glentek motors with built in resolvers are factory aligned Consult a Glentek applications engineer prior to attempting a resolver realignment Failure to do so may void the warranty Note Consult a Glentek applications engineer before aligning a non Glentek motor resolver Some motor resolvers require procedures other than that described here Note Dip switches S3 1 S3 2 S3 3 and S3 4 allow the converter to be operated
54. ation signals to commutate the motor The two most common sensor types are Hall effect sensors and an optical encoder with commutation tracks A common class of applications for trapezoidal amplifiers is for motor speed control Classically this is implemented by adding a brushless DC tachometer to the motor shaft and driving the motor through a velocity controlled servo loop A high performance velocity loop can be implemented in this manner Another way of implementating the motor speed control is by using a simulated digital tachometer synthesized by the motor commutation signals The commutation signals are used to trigger an one shot signal at every transition of the commutation signals After smoothing a voltage proportional to velocity RPM is obtained Two additional system features were implementated in the synthesized tachometer design 1 At 100 of full RPM the PSEUDO TACH voltage is limited by the power supply voltage If an RPM is commanded above 100 RPM the servo will run away To prevent this from occuring the absolute value of the PSEUDO TACH signal is compared to a 95 of full RPM reference If the PSEUDO TACH signal exceeds this value an over speed latch is set and the servo is disabled 2 The PSEUDO TACH one shot pulse is buffered and brought to the control interface The controller can use this signal to determine the exact velocity RPM of the motor The SMA8115 is a trapezoidal brushless amplifier which contains the
55. ce capability 8215 only 1 3 2 Stand Alone One Axis Amplifier SMA8X15 1A 1 The stand alone one axis amplifier contains a single amplifier module a DC power supply a cooling fan fusing and shunt regulator in a sheet metal enclosure It has the same specifications as the single amplifer module refer to 1 3 1 except the DC power supply and cooling fan are included The shunt regulator within the DC power supply has a 50W internal load resistor bank which bleeds off excess DC Buss voltage when decelerating a large load inertia Consult with factory NOTE Customer must specify the input AC voltage 105 120VAC 205 250VAC and the number of input phases Single or Three Phase when ordering see chapter 3 model numbering so that the proper fan and power supply can be installed 1 3 3 Multi Axis Power Supply The multi axis power supply contains all items listed under 1 2 3 Note If you do not need the shunt regulator and or solid state zero crossing switch please specify at time of order as these items can be deleted which will in turn decrease the cost of the unit accordingly 1 3 3 1 Input and Output Power Input Power Buss B Control Power Fans 120 240VAC Buss Voltage B 170 340VDC Output Power 30 60A continuous 1 3 4 Mechanical LxWxH inches SMA8X15 1 Single Amplifier Module 7 125 1 38 x 4 53 SMA8X15 1A 1 Stand Alone Amplifier 9 025 x 4 00 x 5 66 SMA8X15 2A 2 2 Axis Amplifier System
56. container with the appropriate stickers e g FRAGILE HANDLE WITH CARE 4 Contact a Glentek representative confirm that the unit is being returned to the factory and obtain an RMA Return Material Authorization number The RMA number must accompany the unit upon return to Glentek 5 Return the unit by the best means possible The method of freight chosen will directly affect the timeliness of its return Glentek also offers a one day repair service in the unlikely event that your system is down and you do not have a replacement amplifier module 7 5 Warranty Any product or part thereof manufactured by Glentek Inc described in this manual which under normal operating conditions in the plant of the original purchaser thereof proves defective in material or workmanship within one year from the date of shipment by us as determined by an inspection by us will be repaired or replaced free of charge FOB our factory El Segundo California U S A provided that you promptly send to us notice of the defect and establish that the product has been properly installed maintained and operated within the limits of rated and normal usage and that no factory sealed adjustments have been tampered with Glentek s liability is limited to repair or replacement of defective parts Any product or part manufactured by others and merely installed by us such as an electric motor etc is specifically not warranted by us and it is agreed that such pr
57. de Amplifier Calibration Procedure Current Mode The amplifier in this configuration receives an analog bi polar input command which is proportional to the required motor current motor torque 1 Turn the current limit RV6 to mid position and the Loop Gain 7 full CCW Apply main power and fan power Slowly turn the Loop Gain RV7 pot CW Motor should be stopped or turning slowly Set the Balance RV4 for OV at J1 7 ABS 1 Connect the oscilloscope to ABS J1 7 and the battery box to the Signal 2 single ended Input J1 3 J1 4 as common The voltage on J1 7 is a function of motor current 1V 10A While pulsing a step input voltage adjust the Current Limit for desired peak current If the desired peak current cannot be achieved with Current Limit pot full CW increase either the input signal or Signal Gain RV2 for single ended Input or Differential Gain RV1 for differential input With 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 battery box for a known DC voltage Apply Ginput signal pulses and adjust the Signal Gain RV2 pot or RV1 for differential input to obtain the desired current gain of the amplifier If the motor is rotating in the wrong direction for a given polarity turn the Loop Gain pot full CCW Switch MTR REVERSE S1 6 from OFF to ON or vice versa Turn the Loop Gain pot back to full C
58. e 3 seconds Over under voltage These circuits constantly monitor the amplifier power supply and over temperature voltages and the motor and amplifier heatsink temperatures They will shut down the amplifier in the event of any out of specification condition The overvoltage protection circuit is set to turn on at 250VDC for 120VAC line input and 450VDC for 240VAC line input Multi axis chassis Up to six amplifier modules may be mounted on a single baseplate Multi axis baseplates include a DC power supply cooling fan s and wiring for each respective amplifier module Glentek Inc 2085 218 8 ent FL Sequndo California 90245 t Sob 0 37373026 10 SMA8115 SMA8215 and SMA8315 MANUAL 1 2 2 Stand Alone One Axis Amplifier SMA8X15 1A 1 The stand alone amplifier has all the features that the Single Amplifier Module section 1 2 1 have plus the following additional features e Line operated AC power operation Fused AC input for single or three phase input with in rush current protection at turn on No power isolation transofrmer is required Fused regen clamp circuit shunt regulator with LED indicator and 50W internal load resistor bank bleeds off excess DC Buss voltage when decelerating a large load inertia The regen clamp circuit is set to turn on at 215VDC for 120VAC operation and 400VDC for 240VAC operation All faults can be monitored through isolated logic signals 1 2 3 Multi Axis Power
59. e the output transistors or the motor the Run LED will turn off the OVER TEMP LED is latched on a Fault Output is generated and the amplifier is inhibited The following is a list of possible causes 1 Loss of cooling air Fans are defective or airflow is blocked 2 Excessive rise in cooling air temperature due to cabinet ports being blocked or excessive hot air being ingested 3 Extended operational duty cycle due to mechanical overload of motor or defective motor 4 The motors thermal switch has been tripped due to excessive overloading 7 2 7 Over Voltage Fault When the DC Buss voltage reaches a level that if exceeded would harm the amplifier or motor i e 250VDC for standard and 450VDC for High Power the Run LED will turn off the Over voltage LED s are latched on a Fault Output is generated and the amplifier is inhibited The following is a list of possible causes 1 Main AC line voltage is too high 2 Decelerating a large inertial load When decelerating a DC motor acts as a generator If the inertial load is large the generated voltage can pump up the DC Buss If this fault occurs you may need a Regen Clamp Consult Glentek 7 2 8 Resetting A Fault The fault latch may be reset by pushing the Reset button activating the Reset input J1 13 or by removing power and allowing the filter capacitor s to discharge Note that the fault latch will not reset unless the fault has been cleared 7 3 Amplifier Fa
60. esolver pre amp Refer to Appendix B drawings 8000 1430 8000 1431 Connect and configure the amplifier as described in the installation section Do not apply power yet Loosen the resolver mounting screws just enough to allow the resolver to be adjusted Note the positions of S3 1 53 2 S3 3 and S3 4 then set 53 1 53 2 S3 3 and 53 4 for index i e S3 1 0N S3 2 OFF S3 3 0FF and 53 4 Make sure the amplifier is in current mode S1 7 OFF and S1 8 ON and set S1 4 to the ON position Apply power Adjust the motor shaft until the red index LED lights Slowly apply signal input voltage SIGNAL 1 and SIGNAL 1 J1 1 amp J1 2 for differential input or SIGNAL 2 and COMMON J1 3 amp J1 4 for single ended input until the motor shaft becomes reasonably stiff then it can not be easily adjusted Use Caution This procedure is applying continuous current to the motor An excessive CW setting may result in motor damage The motor will rotate to the correct index position The amount of rotation will be proportional to the alignment error Slowly rotate the resolver CW or CCW until the index LED is constantly illuminated Tighten the resolver mounting screws the LED should still be on Turn the power off Restore the dip switch settings for the correct type and number of poles for the motor being used by adjusting S3 1 S3 2 S3 3 and S3 4 according to the table on page 45 Set S1 4 back to the OFF positio
61. ifier Mating Connector molex 2695 Series 100 2 54mm Center Crimp Terminal Housing P N 22 01 3175 e nylon housing e 15 positions e with polarizing rib e 94 of the Trapezoidal Mating Connector 2695 Series P N 22 01 3107 e J4 and J5 of the RNC re omp Mating connector for molex 2695 Series P N 22 01 3077 Mating connector for J5 molex 2695 Series P N 22 01 3057 e Crimp erminals for the above mating connector molex Crimp Terminals P N 08 55 0102 e 15 microinch select gold plated brass 4 3 3 3 The Power and Motor Connector of the Stand Alone Amplifier e Motor J2 of the Stand Alone Amplifier Mating Connector PHOENIX CONTACT COMBICON Plugs in 7 62mm Pitch P N GMVSTBR 2 5 3 ST 7 62 e with vertical plug in direction to the conductor axis e 3 positions e Color green Power Input J6 of the Stand Alone Amplifier Mating Connector PHOENIX CONTACT COMBICON Plugs in 7 62mm Pitch P N GMVSTBW 2 5 4 ST 7 62 e with vertical plug in direction to the conductor axis e 4 positions e Color green Glentek Inc 2085 218 8 ent FL Sequndo California 90245 t Sob 0 37373026 28 SMA8115 SMA8215 SMA8315 MANUAL 4 4 Single Amplifier Module Connections SMA8X15 1 4 4 1 Buss and Motor Connections J2 DC Buss B DC Buss MOTOR T Phase T of the motor MOTOR 5 Phase S of the motor MOTOR R
62. ifier Module SMA8X15 1 1 2 2 Stand Alone One Axis Amplifier SMA8X15 1A 1 1 2 3 Multi Axis Power Supply GP8600 203X 1 3 Specifications 1 3 1 Single Amplifier Module SMA8X15 1 1 3 1 1 Input and Output Power 3 1 2 Signal Inputs 3 1 3 Digital Inputs 1 3 1 31 Stand Alone One Axis Amplifier 8 15 1 1 Multi Axis Power Supply 3 3 1 Input and Output Power Mechanical 1 1 1 1 2 1 4 1 Chapter Two Theory of Operation 2 1 Introduction 2 2 Driving DC Servo Motors 2 3 Servo Loops 2 4 Brushed Motors vs Brushless Motors 2 5 Sinusoidal vs Trapezoidal 2 6 The Advantages and Disadvantages of a Trapezoidal Amplifier System 18 2 7 Current Mode vs Velocity Mode 2 8 Tachometer Velocity Mode Feedback Options 2 9 Commutation Using Resolver 2 10 Current Mode in Sine Resolver or Trapezoidal Amplifier vs Two Three Phase Input Current Mode Amplifier 2 11 Protection Circuits Glente 7208 219 gab ELS 900 Calif gu ni a 90249 b Sb 0 37373026 SMA8115 SMA8215 SMA8315 MANUAL Chapter Three Model Numbering 3 1 Introduction 3 2 Single Amplifier Modules 3 2 1 Trapezoidal Mode 3 2 2 Sine Resolver Mode 3 2 3 Two Three Phase Input Current Mode 3 3 Stand Alone Amplifier 3 3 1 Trapezoidal Mode 3 3 2 Sine Resolver Mode 3 3 3 Two Three Phase Input Current Mode 3 4 Multi Axis Amplifier System Chapter Four Installation 4 1 Introduction 4 2 Mounting 4 3 W
63. ilure If an amplifier should fail that is if it should cease to operate with no apparent fault the drawings in appendices A and B will enable a skilled technician to trouble shoot an amplifier to even lower levels The modular construction of the amplifier allows fast and easy repair This is especially true due to the plug in personality module card since all user adjustments and configuration changes are made on this card If an amplifier module should fail simply unplug the pre amp and plug it into a replacement amplifier The lowest level parts or modules which Glentek recommends for field replacement are 1 Fuses on the GP8600 power supply sub assembly or the ones on the baseplate 2 Fans 201 203 3 Amplifier modules A1 A6 Glentek 7208 gab ELS RAE Calif gu ni a 90249 t Sob 0 37373026 50 SMA8115 SMA8215 SMA8315 MANUAL 7 4 Factory Repair Should it become necessary to return an amplifier to Glentek for repair please follow the procedure described below 1 Reassemble the unit if necessary making certain that all the hardware is in place 2 Tag the unit with the following information A Serial number and model number B Company name phone number and representative returning the unit C A brief notation explaining the malfunction D Date the unit is being returned 3 Repackage the unit with the same care and fashion in which it was received Label the
64. in a twisted pair shielded cable The hall sensor signal lines the resolver excitation lines and the resolver output lines should be run in a three twisted pair shielded cable In each case the shield should be terminated at the amplifier end only to a common terminal We also recommend that the signal lines be kept as far as possible from any power or motor wires Glentek Inc 2085 218 8 uen California 90245 t Sob 0 37373026 26 SMA8115 SMA8215 SMA8315 MANUAL 4 3 2 Wire Size and Type IMPORTANT To ensure safe operation Glentek strongly recommends that all wiring conform to all local and national codes Recommended Wire Size and Type Motor Wires 14AWG shielded Standard 12AWG shielded High Power Motor Case Ground Same as motor wires or use metallic conduit Main Power Same as motor wires Signal Input 22AWG twisted pair shielded e Logic Inputs Outputs 22AWG shielded with its return lead e External Tachometer 22AWG twisted pair shielded e Hall Sensors SMA8115 22AWG three twisted pairs over all shielded Resolver Outputs and Excitation SMA8215 22AWG three twisted pairs over all shielded 4 3 3 Connector Size and Type 4 3 3 1 The Power Connector of the Single Amplifier Modules J2 of the Main Amplifier All amplifiers are shipped with the right angle AUGAT terminal block mounted as it power connector The vertical angle AU
65. iring 4 3 1 RFI EMI and Wiring Technique 4 3 2 Wire Size and Type 4 3 3 Connector Size and Type 4 3 3 1 The Power Connector J2 of Main Amplifier 4 3 3 2 The Signal Connector 4 3 3 3 The Power and Motor Connector of the Stand Alone Amplifier 28 4 4 Single Amplifier Module Connections SMA8X15 1 4 4 1 Buss and Motor Connections J2 4 4 2 Signal Connections for the Trap and Sine Resolver Mode J1 4 4 3 Signal Connections for the 2 3 Phase Current Mode Amplifier 4 4 4 Signal Connections for the Trapezoidal Mode Pre amp 4 4 5 Signal Connections for the Sine Resolver Mode Pre amp 4 5 Stand Alone Amplifier Connections SMA8X15 1A 1 4 5 1 Motor Connections J2 4 5 2 Power Connections J6 4 6 Multi Axis Power Supply Connections 3 Glentek ING ina B indard street 5 g undo Calif alif 9 028 sU Rt 310 3 2218026 TABLE OF CONTENTS Chapter Five Configuration 5 1 Introduction 5 2 Logic Input Configuration 5 3 Trapezoidal Mode Amplifier Configuration 5 3 1 15V 5V Logic Level Configuration 2 Standard Configuration 3 Integrator Configuration 4 Hall Sensor Configuration 5 Motor Reverse Configuration 6 Simulated Tach Disable Configuration 7 Simulated Tach Reverse Configuration 5 3 8 Simulated Tach Speed Configuration 5 3 5 3 5 3 5 3 5 3 5 3 5 4 Sine Resolver Mode Amplifier Configuration 5 4 1 15V 5V Logic Level Configuration 5 4 2 Standard Configuration 5 4 3 Encoder Output Resolution
66. is literally stepped from winding to winding like the Christmas light analogy This is the simplest and least expensive method of driving a brushless motor Its principal disadvantage is that the large current steps produce high torque ripple Torque ripple is a repetitive fluctuation in torque as the motor turns and is independent of load The SMA8115 trapezoidal mode amplifier produces a trapezoidal output The second waveform is known as sinusoidal To minimize torque ripple the motor current needs to be constantly varied according to the orientation of the magnets and windings As it happens this is a sine function In fact a sine wave is defined as a rotating radius like a motor shaft revolving through time see figure 2 4 A sine wave is the most natural way to drive a motor and produces the minimum torque ripple The SMA8215 sine resolver mode amplifier produces sinusoidal output 17 Glantek Inca 498 Bla indard street Se g undo Calif alif 88 la 90845 310 3 2218026 CHAPTER 2 THEORY OF OPERATION 2 6 The Advantages and Disadvantages of a Trapezoidal Amplifier System A trapezoidal motor has three stator windings and together with the rotor magnets are designed so that the magnetic flux coupling between them constant torque The torque of the motor is proportional to the three stator phase currents which are 120 out of phase to the other two Shaft position sensors are required to provide the commut
67. istance in series with the motor This resistance is usually a partially turned on transistor The transistor is said to be in its linear region Linear amplifiers are simple accurate and effective However they are very inefficient and they generate a lot of heat Linear amplifiers are used when low electrical noise high bandwidths 2KHz or higher and or low inductance less than 1mH motors are used In pulse width modulation the control devices output transistors are rapidly turned full on and full off The ratio of the on time the pulse width and off time determines the average motor current Refer to figure 2 1 For example if the output is on 25 of the time and off 75 of the time the average motor current is approximately 25 of maximum A coil of wire such as the windings of a motor forms an inductor Inductors resist changes in current This resistance to change known as reactance acts to dampen or average the high current spikes that would otherwise occur when the output devices are on In fact if motor inductance is low external inductors may have to be added in series with each motor lead to ensure proper operation A brush type motor may be run from a steady DC voltage since the brushes and commutator switch the current from winding to winding However a brushless motor requires that the voltage be switched from winding to winding externally the voltage that drives a brushless motor is a constantly changing AC waveform
68. ity loop in the amplifier This mode of operation offers an extremely cost effective velocity mode system for medium to high velocity applications Please see section 2 6 of this manual for more detailed information CURRENT MODE In this mode of operation which is also commonly referred to as torque mode a current in the motor 15 produced which 15 directly proportional to the input signal Please see section 2 2 2 5 2 7 of this manual for more detailed information Sine Resolver Mode SMA8215 SMA8215HP In this mode of operation a brushless motor with an integral resolver is required The personality module contains a resolver to digital converter which provides the positional information to the amplifier that is required to commutate the motor This positional information is also used by the personality module to emulate a quadrature encoder output This personality module can be configured for the following two different types of operation e VELOCITY MODE In this mode of operation the personality module generates a tachometer signal which is used to close a velocity loop in the amplifier Please see section 2 3 2 5 2 8 of this manual for more detailed information CURRENT MODE In this mode of operation which is also commonly referred to as torque mode sine wave currents in the motor are produced that are directly proportional to the input signal Please see section 2 5 2 7 2 9 of this manual for more detailed information Two
69. le 12 Pole Zero Index 5 5 Two Three Phase Input Current Mode Amplifier Configuration The following table shows the dip switches that need to be configured for the Type A B C and D configurations The standard configuration is shown in bold Type Type B Type C Type D INHIBIT S1 5 OFF S1 5 ON S1 5 OFF S1 5 ON 1 3 ON S1 3 OFF S1 3 OFF S1 3 ON RESET IN 1 4 OFF 1 4 S1 4 OFF 1 4 1 2 OFF 51 2 ON 51 2 ON S1 2 OFF MTR TEMP S1 1 OFF not available 51 1 ON not available 5 5 1 15V 5V Logic Level Configuration e 15V 51 6 OFF e 45V 81 6 ON 5 5 2 Standard Configuration for Two Three Phase Input Current Mode Dip switch Switch Name 24 current mode 34 current mode 51 8 2 51 7 3 37 Glantek Inca 498 Bla indard street 5 g undo Calif alif 88 028 310 3 2218026 CHAPTER 6 START UP AND CALIBRATION Chapter Six Start up and Calibration 6 1 Introduction This chapter contains the procedure required for initial start up and amplifier calibration Both trapezoidal and sine resolver modes can be configured to run in velocity mode and current mode operations Required Equipment Oscilloscope voltmeter amp battery box The battery box serves as a step input voltage command applying removing a flashlight battery can also be used for this function
70. n Easy access to connections adjustments and test points Wide operating 70 350VDC buss voltage Complete isolation Complete isolation from input to output Dual signal inputs Two single ended or one differential Both single ended inputs may be used simultaneously All inputs have up to 15 000 A V gain and all inputs will accept 13VDC Dual mode operation The standard amplifier may be configured for velocity RPM 8115 amp 8215 only control or current torque control Current limit Maximum motor current is adjustable Silent operation Carrier frequency is 20KHz Short circuit protection Complete short circuit and ground fault protection LED diagnostics Red LED S illuminate to display various fault conditions and a green LED illuminates to indicate normal operating conditions Encoder emulation Encoder emulation comes standard with line driver outputs 8215 only quadrature and zero index Frequency response 750 Hz minimum Velocity Loop Frequency response 2 KHz minimum Current Loop 9 Glantek Inca 498 Bla indard street Se g undo Calif alif 88 028 sU Rt 310 3 2218026 CHAPTER 1 DESCRIPTION FEATURES AND SPECIFICATIONS Digital limit enable Three separate logic inputs can stop the motor in either or both Inputs directions Inputs may be configured for active high or active low pull up or pull down termination and a 0 to 5V or 0 to 15V range Pseudo tach option For medium a
71. n If the amplifier is to be operated in velocity mode then set 1 7 and S1 8 OFF otherwise proceed to step 10 the power back on and apply a signal command while monitoring the DC voltage at the tach out J1 5 with a digital voltmeter and record this voltage Now reverse the polarity of the signal input command and record this voltage NOTE Be sure to set the tach out voltage for 1000 RPM 12 14 bit resolution 11 12 13 14 15 16 If the difference between both of the above readings is less than 100mV the motor is ready to operate However if the difference is greater than 100mV proceed to step12 Loosen the resolver mounting screws Alternately apply a positive and negative signal input command while monitoring the tach out voltage at J1 5 Rotate the resolver body slowly back and forth until the difference between both tach out voltage readings is less than 100mV Tighten the resolver mounting screws and turn the power off Resolver alignment complete Glentek ING ogy 8 Blandard tl Se g undo Calif alif 88 la 028 8 103 2218026 CHAPTER 7 MAINTENANCE REPAIR and WARRANTY Chapter Seven Maintenance Repair and Warranty 7 1 Maintenance Glentek amplifiers do not require any scheduled maintenance although it is a good idea to occasionally check for dust build up or other contamination 7 2 Amplifier Faults If an amplifier should cease to operate
72. n for a given input polarity turn the Loop Gain pot full CCW Switch MTR REVERSE S1 4 from OFF to ON or vice versa Turn the Loop Gain pot back to full CW 13 Remove the battery box and repeat only step 4 14 Calibration complete Reconnect signal wires 6 4 2 Sine Resolver Mode Amplifier Calibration Procedure Current Mode The amplifier in this configuration receives an analog bi polar input command which is proportional to the required motor current motor torque 1 Turn the current limit RV7 to mid position and the Loop Gain RV8 full CCW 2 Apply main power and fan power Slowly turn the Loop Gain RV8 full CW Motor should be stopped or turning slowly 3 Set Balance RV5 for OV at ABS I J1 7 Glentek Inc 2085 218 EL Ssaundo California 90245 t Sob 0 35373026 com 42 SMA8115 SMA8215 SMA8315 MANUAL 43 Connect the oscilloscope to ABS J1 7 and the battery box to the Signal 2 Signal ended Input J1 3 and J1 4 The voltage on J1 7 is a function of motor current 1V 10A While pulsing a step input voltage adjust the Current Limit for the desired peak current If the desired peak current cannot be achieved with the pot full CW increase the input voltage or increase the Signal 2 Gain RV3 With 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 J1 2 set battery box f
73. nd high speed unidirectional or bidirectional 8115 only applications an option allows the hall sensor inputs to produce a simulated tachometer voltage thus eliminating the need for an external tachometer Encoder outputs Incremental quadrature position outputs with separate index 8215 only 19 different encoder counts from 125 to 4096 counts revolution are available Differential line driver output devices sink and source 40mA Tachometer output DC output proportional to motor RPM 8115 amp 8215 only Fault input output Open collector output goes low in the event of a fault This input is configured so that externally forcing this output low will inhibit the amplifier This allows all fault outputs in a multi axis system to be connected together wire ORed to shut down all amplifiers should any amplifier have a fault Manual and external Push button and a separate input is provided to reset the fault reset amplifier after a fault High Speed Electronic Instantly shuts down the amplifier in the event of a short across Circuit Breaker the motor leads or a ground fault condition HS ECB i e amplifier exceeds 80A for 10 microseconds Low Speed Electronic Shuts down the amplifier if the amplifier is operated above the Circuit Breaker maximum continuous current rating i e 15A for standard LS ECB 120VAC 10A for standard 240VAC 20A for High Power 120VAC and 15 for High Power 240VAC for a pre determined period i
74. nding of input to enable the amplifier pull up active high on D Requires a positive voltage at input to enable the amplifier pull down active ow 5 3 Trapezoidal Mode Amplifier Configuration The following table shows the dip switches that need to be configured for the Type A B C and D configurations The standard configuration is shown in bold 33 LIMIT 1 8 1 5 1 8 51 5 OFF 51 8 51 5 S1 8 ON S1 5 ON INHIBIT 51 7 OFF 1 4 S1 7 51 4 OFF 1 7 OFF 51 4 OFF 51 7 S1 4 ON RESET IN 51 6 OFF 51 3 ON 1 6 ON 1 3 1 6 1 3 1 6 1 3 MTR TEMP 1 2 ON not available S1 2 OFF not available FAULT standard not available not available not available 5 3 1 15V 5V Logic Level Configuration Default S1 1 OFF 15 51 1 OFF 5V 51 1 Glantek ING ins ala dard Street g undo Calif alif 88 la 028 310 3 2218026 CHAPTER 5 CONFIGURATION 5 3 2 Standard Configuration for Trapezoidal Velocity Mode Simulated Velocity Mode and Current Mode Dip Switch Velocity Mode Simulated Current S2 with External Velocity Mode Mode Tachometer OFF OFF ON CUR MODE VEL MODE INTEGRATOR See section 5 3 3 normally OFF SENSOR SEL See section 5 3 4 normally OFF MTR REVERSE See section 5 3
75. ne signals into position data This position information is used to amplitude modulate the velocity error signal into three phase sinusoidal and current error signals like the one in section 2 5 2 10 Current Mode in Sine Resolver or Amplifier vs Two Three Phase Input Current Mode Amplifier The fundamental difference between the current mode in sine resolver or trapezoidal amplifiers and the two or three phase input current mode amplifiers is that in the former case the commutation of the command and feedback signals is done within the amplifier itself The latter case accepts two or three 120 out of phase commutated drive signals In other words the user s controller has to do the commutation of the command and feedback signals themselves The user can either input two or three commutated drive signals If the user has chosen two phase input the third phase is generated as the negative sum of the other two inputs 2 11 Protection Circuit The High and Low Speed Electronic Circuit Breakers HS ECB and LS ECB protect the amplifier and motor from being damaged by high motor current specified max peak and rms current values The Over Temperature and Over Voltage detection circuits will shut off the amplifier when the temperature of the amplifier or the buss B voltage exceeds a specified limit Also there are circuits which limit the motor from running in either or both directions 19 Glantek In 8 Blandard
76. nfiguration code NOTE This will be omitted if they are the same Y When there is only one type of amplifier used on the baseplate this part of the model number will be omitted If there are more than two types of amplifier modules on the baseplate this part of the model number will be repeated for each amplifier type NOTE The multi axis amplifier label will be mounted on the baseplate and each amplifier module will contain its own label and serial number 25 Glantek 498 Bla indard street Se g undo Calif alif 9 la 2004 d 8 MK 2218026 CHAPTER 4 INSTALLATION Chapter Four Installation 4 1 Introduction This chapter provides the necessary information to make all the wiring connections for the amplifiers to operate properly 4 2 Mounting Appendix A contains all the wiring diagrams assembly drawings and mechanical information necessary to install the amplifiers The amplifier package should be mounted in a clean dry enclosure free of dust oil or other contaminants NEVER INSTALL THE AMPLIFIER PACKAGE IN ANY LOCATION WHERE FLAMMABLE OR EXPLOSIVE VAPORS ARE PRESENT IMPORTANT Muffin fan s are mounted along one edge of the baseplate to provide cooling At least 3 inches must be allowed between the fan side and the side opposite the fans and any other surface The clearance to any other side of the amplifier package is not critical although sufficient space should be allowed for easy
77. oduct or part shall only carry the warranty if any supplied by the manufacturer of that part It is also understood that you must look directly to such manufacturer for any defect failure claim or damage caused by such product or part Under no circumstances shall Glentek Inc or any of our affiliates have any liability whatsoever for claims or damages arising out of the loss of use of any product or part sold to you Nor shall we have any liability to yourself or anyone for any indirect or consequential damages such as injuries to person and property caused directly or indirectly by the product or part sold to you and you agree in accepting our product or part to save us harmless from any and all such claims or damages that may be initiated against us by third parties 51 Glantek Inca 498 Bla indard street Se g undo Calif alif 88 la 028 310 3 2218026 APPENDIX A AMPLIFIER DRAWINGS Appendix A Amplifier Drawings Glentek Inc 208 Standard 8 ent FL Sequndo California 90245 t Sob 0 988 3026 52 2001 2108 40 8391330 2001 lt 108 ASSY SINZANIDA 5072511 53H10 OL ZNOT m
78. or Signal 2 Gain for about 400RPM Pulse the input and compare the waveform with figure 6 1 Critically damped One Hook Overshoot Under damped Over damped Too much Tach or Not enough Tach or not enough Bandwidth too much Bandwidth Figure 6 1 Critically damped One Hook Overshoot Under and Over damped waveforms GIRS 16 298 Glar ee Rel 51990109 FRU Se SURGE RAD hen con CHAPTER 6 START UP AND CALIBRATION Adjust the Compensation pot CCW until the waveform is critically damped or one hook overshoot Then proceed to step 10 If the desired waveform cannot be obtained by adjusting the Compensation pot back off CCW the Tach Gain pot a few turns and repeat step 8 Do not adjust the Tach Gain or Compensation for the rest of the calibration procedure With 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 battery box for a known DC voltage Adjust Signal Gain RV2 or RV1 for differential input to obtain the desired motor velocity If the motor is rotating in the wrong direction for a given input polarity turn the Loop Gain 13 14 pot full CCW Switch the MTR REVERSE S2 6 from OFF to ON or vice versa or reverse the TACH input leads Turn the Loop Gain pot back to full CW Remove the battery box and repeat only step 4 Calibration complete Reconnect signal wires 6 3 2 Trapezoidal Mo
79. or a known DC voltage Apply input signal pulses and adjust the Signal 2 Gain pot RV2 or RV1 for differential input to obtain the desired current gain of the amplifier If the motor is rotating in the wrong direction for a given input polarity turn the Loop Gain pot full CCW Switch MTR REVERSE 51 4 from OFF to ON or vice versa Turn the Loop Gain pot back to full CW Remove battery box and repeat step 3 Calibration complete Reconnect single wires 6 5 Two Three Phase Current Mode Amplifier Calibration The amplifier in this configuration receives either two or three bi polar phase current command signals input The amplifier generates three sine wave currents that are proportional to the input signals The following pots will be set during calibration Note RV1 to RV4 are 12 turn pots PHASE R Signal gain for phase R input current PHASE S Signal gain for phase S input current PHASE T Signal gain for phase T input current LIMIT Sets maximum motor current Shipped Current Limit et CW maximum current limit 6 5 1 Two Phase Input Current Mode Amplifier Calibration Procedure 1 Turn the Current Limit RV4 to mid position phase RV1 full CCW and phase 5 RV2 full CCW Apply main power and fan power Slowly turn phase R and phase 5 full CW Connect the oscilloscope to Limit J3 E and set the current limit for 5A V at LIM SET RV4 Connect the oscilloscope to ABS J1 7 and the
80. power input Sub assembly Glentek Inc 208 tandard 8 ent FL Sequndo California 90245 t Sob 0 37373026 32 tisan T ogy Group SMA8115 SMA8215 and SMA8315 MANUAL Chapter Five Configuration 5 1 Introduction Each amplifier has several configuration options This chapter describes these options and how to implement them If desired Glentek will be happy to pre configure your amplifiers NOTE Each amplifier module and multi axis amplifier is configured and shipped according to the model number instructions to construct a model number is in chapter three when the order is placed It is important for the user to realize that any adjustment on the dip switches by the user will result in discrepancies between the model number and the actual configuration of the amplifier 5 2 Logic Input Configuration There are five logic inputs Limit Limit Inhibit Reset In Motor Temp The first four may be configured for active high or active low signals and pulled up or pulled down termination type A B C and D The motor temp may be configured for active high or active low signals and is always pulled up type A and C All five logic inputs have a selectable 0 to 5VDC or 0 to 15VDC range Type A Requires grounding of input to disable the amplifier pull up active low Type B Requires a positive voltage at input to disable the amplifier pull down active high Type C Requires grou
81. t Power Input Power Output Power Buss Voltage B current Standard High Power R M S Peak R M S Peak 120VAC 170VDC 15A 25A 20A 40A 240VAC 340VDC 10 25 15 35A 1 3 1 2 Signal Inputs Amplifier Signal Input Maximum Minimum Velocity Gain Current Gain Model Voltage Amp Volt Amp Volt VDC 8115 8215 Differential 13 10 000 15 000 8115 8215 Single ended 13 10 000 15 000 m 8315 2 3phase input 13 10 000 1 3 1 3 Digital Inputs tLimit Inhibit Reset 40 0 5V max Terminated by 10 000W Fault as input 40 0 5V max Terminated by 10 000W Typical for all digital inputs Digital inputs have hysteresis with thresholds at 1 3 and 2 3 of 5V or 15V depending on range select jumper 3 1 4 System Drift offset over temperature reference to input 0 01mV C max Frequency response Velocity loop 750Hz min Frequency response Current loop 2KHz min Dead band None Form factor 1 01 Glentek 7208 219 Su gab ELS RAE Calif gu ni a 90249 t Sob 0 37373026 com 12 SMA8115 SMA8215 SMA8315 MANUAL 1 3 1 5 Outputs Fault as output Active low Open collector output can sink 500mA max Abs motor current 10A V Tachometer 1000W source impedance a high input impedance meter must be used 1MW volt Maximum Tachometer output voltage for 12 bit 1 5V KRPM 14 bit 2V KRPM Encoder outputs Standard TTL levels with 20mA sink or sour
82. tic 8015 1030 SMA8015 Brushless Power Board Assembly Drawing 8015 1031 SMA8115 1 Trapezoidal Single Amplifier Module Installation 8015 1032 SMA8215 1 Sine Resolver Single Amplifier Module Installation 8015 1033 57 SMA8315 1 Two Three Phase Single Amplifier Module Installation 8015 1034 58 SMA8115 1A 1 Trapezoidal Stand Alone Amplifier Installation 8015 1035 59 SMA8215 1A 1 Sine Resolver Stand Alone Amplifier Installation 8015 1036 60 SMA8315 1A 1 Two Three Phase Stand Alone Amplifier Installation 8015 1037 61 SMA8X15 2A 2 2 axis Installation Drawing 8000 1833 SMA8X15 4A 4 4 axis Installation Drawing 8000 1835 SMA8X15 6A 6 6 axis Installation Drawing 8000 1837 5 Glentek ING ina 8 Bla indard street 5 g undo Calif alif 9 la 028 310 221806 TABLE OF CONTENTS GP8600 2030 30A Power Supply Assembly Drawing 8600 2030 GP8600 2031 60A Power Supply Assembly Drawing 8600 2031 Appendix B Personality Module Pre amp SMA8115 Trapezoidal Mode Installation Schematic 8000 1130 SMA8115 Trapezoidal Mode Assembly Drawing 8000 1131 SMA8215 Sine Resolver Mode Installation Schematic 8000 1430 SMA8215 Sine Resolver Mode Assembly Drawing 8000 1431 SMA8315 20 30 Current Mode Installation Schematic 8000 1330 SMA8315 20 30 Current Mode Assembly Drawing 8000 1331 Glentek Inc 2085 218 8 ent FL Sequndo California 90245 t Sob 0 37373026 6 SMA8115 SMA8215 SMA8315 MANUAL
83. two phase modulated input waveform at Phase R J1 1 Phase R J1 2 and Phase S J1 3 Phase S J1 4 Adjust the LIM SET RV4 for the desired peak current Calibration complete Glantek ING 498 Bla indard street Se g undo Calif alif 88 la oed 310 3 2218026 CHAPTER 6 START AND CALIBRATION 6 5 2 Three Phase Input Current Mode Amplifier Calibration Procedure 1 Turn the Current Limit RV4 to mid position phase RV1 full CCW phase 5 RV2 full CCW and phase full CCW Apply main power and fan power Slowly turn phase RV1 phase S RV2 and phase T RV3 full CW Connect the oscilloscope to Limit J3 E and set the current limit for 5A V at LIM SET RV4 Connect oscilloscope to ABS J1 7 and the three modulated input waveforms at Phase R J1 1 J1 2 Phase SO J1 3 J1 4 and Phase TO J1 5 J1 6 Adjust LIM SET RV4 for desired peak current Calibration complete Glentek Inc 2085 218 8 ent FL Sequndo California 90245 t Sob 0 37373026 com 44 SMA8115 SMA8215 and SMA8315 MANUAL 45 6 6 Calibration Setup Record It is good practice to keep a record of all 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 b
84. w to the windings which are optimally oriented with respect to the magnetic field which in turn produces maximum torque In a brushless motor there is no commutator to direct the current flow through the windings Instead an encoder hall sensors or a resolver on the motor shaft senses the rotor position and thus the magnet orientation The position data is fed to the amplifier which in turn commutates the motor electronically by directing the current through the appropriate windings to produce maximum torque The effect is analogous to a string of sequencing Christmas lights the lights seem to chase each other around the string In this case the mone on the rotor chase the magnetic fields of the windings as the fields move around the stator The relative advantages and or disadvantages of a brush type motor amplifier combination vs a brushless motor amplifier combination can be significant On the next page is a summary of advantages and disadvantages of brush type motor amplifiers and brushless type motor amplifiers to help you decide which type to select for your applications STA IE MAGNETS STATOR WINDINGS BRUSHES Se MAGNETS BEARING C MOTOR WIRES BRUSH TYPE BRUSHL Figure 2 3 Brush type and Brushless type Motors Glentek Inc 2085 218 5 uen California 90245 t Sob 0 37373026 com 16 SMA8115 SMA8
85. wiring and servicing 4 3 Wiring 4 3 1 RFI EMI and Wiring Technique IMPORTANT All PWM equipment inherently generates radio frequency interference RFI and wiring acts as antennae to transmit this interference In addition motors inherently generate electromagnetic interference EMI Unless the wiring is very short some sort of shielding on the motor wires is necessary to meet FCC RFI EMI guidelines and to protect other equipment from the effects of RFI EMI We recommend that shielded wire be used or the wires should be run in metallic conduit The shield or conduit should be connected to the amplifier baseplate which in turn must be earth grounded In addition a conductor of the same gauge as the motor wires must be connected from the motor case to the amplifier baseplate to provide protection from shock hazard The earth grounding is necessary to meet National Electrical Code NEC requirements as well as suppressing RFI EMI Additional suppression may be obtained by placing inductors in each motor lead near the amplifier Consult a Glentek applications engineer for inductor recommendations Glentek stocks a complete line of inductors for virtually every application IMPORTANT The signal wiring to hall sensors for the SMA8115 resolver for SMA8215 if used and the signal inputs to the amplifier are susceptible to noise pickup Excessive noise pickup will cause erratic amplifier operation We urge that each signal input be run
86. ystem Tach Gain bandwidth Not used in current mode Shipped set at 75 BAL Balance Used to null any offsets in system COMP Used in conjunction with the TACH pot to set the system Compensation bandwidth Not used in current mode Shipped set at full CW minimum bandwidth I LIMIT Sets the maximum motor current Shipped set at full CW Current Limit maximum current limit LOOP Used to shut off uncalibrated amplifiers When the loop gain is Loop Gain CCW no current is delivered to the motor Shipped set at full CCW Glentek Inc 2085 218 uen California 90245 b Sb 0 37373026 com 38 SMA8115 SMA8215 SMA8315 MANUAL 39 6 3 1 Trapezoidal Mode Amplifier Calibration Procedure Velocity Mode and Simulated Velocity Mode The amplifier in this configuration receives an analog bi polar input command which is proportional to the required motor velocity The amplifier receives velocity feedback from a tachometer which is usually mounted to the rear of the motor 1 2 3 Turn Current Limit RV6 to mid position and the Loop Gain RV7 full CCW Apply main power and fan power Slowly turn the Loop Gain RV7 CW Motor should be stopped or turning slowly If the motor starts running away turn Loop Gain RV7 full CCW switch MTR REVERSE S2 6 from OFF to ON or vice versa or reverse the TACH OUT and COMMON at J1 5 and J1 6 and retest Leave the Loop Gain

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