OPERATION & SERVICE MANUAL Model GA369
Contents
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5. CHAPTER FOUR THEORY OF OPERATION 4 1 INTRODUCTION TO THEORY OF OPERATION A Velocity Mode servo amplifier is essentially comprised of two control loops see fig 4 1 CURRENT ERROR SIGNAL ond AMPLIFIER VELOCITY LOOP Figure 4 1 Velocity mode sevo loop for a brush type motor VELOCITY COMMAND SIGNAL 0c a aa el The inside control loop is referred to as the Current Loop and the outside loop is referred to as the Velocity Loop Before we begin our analysis of the Current Loop let us review some basic concepts which will help you to better understand the amplifier s operation 4 2 OPERATION OF OUTPUT SWITCHING TRANSISTORS The output transistors for all intents and purposes operate in only two states They are analogous to an ON OFF switch When an output transistor is OFF there is no current flowing through it it s resistance is infinite When an output transistor is ON current flows through it it s resistance is near zero When the transistor is ON it is techni cally referred to as being in saturation 43 H TYPE OUTPUT BRIDGE CONFIGURATION The output configuration of the amplifier is a H TYPE bridge see fig 4 2 for schematic representation of output bridge with motor connected Figure 4 2 D C BUSS N FILTER Schematic representation of CAPACITOR an output bridge with a motor connected The advantage of an H TYPE output bridge configuration is that by controlling the s
6. 1 ms minimum or by removing all power and waiting for the buss capacitors to discharge and reapplying power Refer to appendix B drawing 369 1007 or appendix C drawing 369 1200 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 810 322 3026 15 GA369 MANUAL CHAPTER 6 START UP AND ADJUSTMENT PROCEDURE CHAPTER SIX START UP AND ADJUSTMENT PROCEDURE 6 1 SAFETY PRECAUTIONS Before starting the adjustment and alignment procedure please be sure to observe the following precautions Be certain that there are no visibly loose or damaged components Check that all connections are tight Check all power and signal wiring Remove power input fuses apply power and measure that correct power voltage is being applied Your DC Buss voltage will be 1 4 x the AC power applied Refer to Appendix A note 1 Be sure that the motor mechanism is clear of all obstructions If motor is connected to an axis lead screw or other device with limited motion place at midposition Work on only one amplifier at a time Make sure all Loop Gain pots are turned fully CCW before applying power DO NOT use grounded test equipment 6 2 AMPLIFIER ALIGNMENT INTRODUCTION When adjusting an amplifier for optimum velocity loop operation it is desirable to achieve a critically damped stable step velocity response with maximum DC Tach Gain The following discussion will describe how to best achieve this result Your amplifier has been run at t
7. 322 3026 Omega Series Digital PWM Brushless Servo Amplifiers e PWM Pulse Width Modulated Brushless servo amplifiers to 20KW Analog Brush Type Servo Amplifiers e Linear Brush type servo amplifiers to 2 6KW e PWM Pulse Width Modulated Brush type servo amplifiers to 28KW Analog Brushless Servo Amplifiers e Linear Brushless servo amplifiers to 3 5KW e PWM Pulse Width Modulated Brushless servo amplifiers to 51KW Permanent Magnet DC Brush Type Servo Motors e Continuous Torques to 335 in Ib e Peak Torques to 2100 in Ib Permanent Magnet DC Brushless Servo Motors e Continuous Torques to 1100 in Ib e Peak Torques to 2200 in Ib MANUAL 0369 1040 000 GLENTEK REVISION A DATE 29 July 2002 Solutions for Motion Control 208 Standard Street El Segundo California 90245 USA Telephone 310 322 3026 Fax 310 322 7709 www glentek com e mail sales glentek com
8. 90245 U S A 36 PERSONALITY MODULE DRAWINGS APPENDIX C GA369 MANUAL 1301 133951 v w 2021 69 maf 5206 ig 13381 Boz 698VD xx HSINI 3 010 900 53003 duwus wawa ONG SALIA Q31V30d3D2NI 143 8 A BW3SSV Cevod 2 S39NV v9 1 SNOLIOVHA 39Nv83701 G3lN319 3004 ALIQU 3A dWV3Sd q3J3234S 3SIASHIO SSIM 1511 Siwa YO CWis31VH JO 1517 NOL 1012534 MEOT 23INV333 410 2A001 017 MJW 10 92 OIWVN32 did OA0S 701 TJ4 EE 9032 701 38 100 012 82 62 2 12 6 r 23 22 022 412 9032 134 EED 90X9 14H 890 919 19 69 219 9012 TAW T 8vI NI 211 uoj 1 1199 132 u SSNS XU OT TGSNY Ap T ZIF 08 USSNY Ap l 71 AGSZ USSNA AF 1 I 466 PON PON ECN VES v623 la via 68 093 029 2 ve TSSNY b l ZIz Ne SSNS AF 1 71 WHO 001 4028 Mb 1 Lp 23 SZA 223 ora 2 512 4058 Mb 1 SF 201 4028 Av l ZSF G1 a 4024 Av I AZB Iba 923 ulm aja 4028 Av l ZSF A28 2038 Mb 1 75 ASI o p 1095 Av l 7 WHO 001 Ova ES 4028 AWAL ZSF c 3968 01 D e 7W2I183A SAX2 AS Qo WILLYBA YMX2L 01 OL 1 WDY3 11915 1 G08229WD LINO
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10. El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL CHAPTER 2 DESCRIPTION FEATURES AND SPECIFICATIONS 2 27 EXAMPLE MODEL NUMBERING The following example of GA369 part numbering is provided to help you better understand Glentek s part numbering system Example GA369CMA 4A 3 In this example the GA369 part number describes the following amplifier configuration Current Mode input option A Type A and Limit option 4A 4 Axes chassis 3 3 Amplifier modules installed For this example each of the three amplifier modules would be labeled GA369 1 or GA369 1 with serial number and CMA designator at bottom of label The 4 axes chassis would be labeled GA369 4A 3 with serial number and CMA designator at bottom of label 2 3 PROTECTION CIRCUITS The following protection circuits are integral to the GA369 amplifiers to prevent damage to the amplifier and your equipment Again Glentek is anxious to work with you in helping to implement any circuit functions your system might require Note For 2 3 1 to 2 3 3 refer to Appendix B drawing 369 1007 2 3 1 DRIVE INHIBIT INDICATOR OPERATION RED LED The LED 1 Drive Inhibit indicator light will turn ON and latch for the two following conditions 1 Low Speed Electronic Circuit Breaker LS ECB triggered 2 High Speed Electronic Circuit Breaker HS ECB triggered 2 3 2 LOW SPEED ELECTRONIC CIRCUIT BREAKER This circuit protects the motor amplifier and mechanica
11. LIMITS The and Limits are located respectively at terminals 8 and 9 of terminal strip J1 of the amplifier module Please refer to 2 2 3 for a description of the different configurations of limits that are available Amplifier modules are normally shipped with type A limits when terminals J1 8 or J1 9 are pulled to ground J1 11 by some external circuit the amplifier is inhibited in the or direction 5 4 7 TOTAL INHIBIT The Total Inhibit is located at terminal 10 of terminal strip J1 of the amplifier module Please refer to 2 2 3 for a description of the different configurations of Total Inhibit that are available Amplifier modules are normally shipped with type A Total Inhibit when terminal J1 10 is pulled to ground J1 11 by some external circuit the amplifier is totally inhibited 5 4 8 FAULT MONITOR The Fault Monitor is located at terminal 12 of terminal strip J1 of the amplifier module The amplifier will pull this terminal to ground by turning ON 01 for the following fault conditions 1 Low Speed Electronic Circuit Breaker LS ECB triggered 2 High Speed Electronic Circuit Breaker HS ECB triggered NOTE Please refer to Chapter 2 3 on Protection Circuits for a more detailed description of the possible conditions that will cause the above faults to occur 5 4 9 RESET The amplifier can be reset two ways by grounding the RESET input J1 7 with a 3ma contact closure to amplifier common J1 11 for
12. in which this summing junction operates is as follows The Current Command Signal also referred to as the Velocity Error Signal when received from the output of the velocity loop as shown in fig 4 1 is added to the current feedback signal The signal resulting from this addition is referred to as the Current Error Signal This current error signal is fed into the current amplifier which in turn pro duces a current in the motor A voltage which is proportional to the motor current is developed across Rs shunt resistor this voltage is referred to as the Current Feedback Signal The current in the motor increases until the current feedback signal is exactly equal in magnitude but opposite in polarity to the current command signal At this point the current error signal drops to zero and the commanded current is equal to the actual current If anything happens to disturb either the current command signal or the current feedback signal the same process occurs again until the current command signal is equal in magnitude to the current feedback signal but opposite in polarity 12 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL CHAPTER 4 THEORY OF OPERATION The type of loop described above is referred to as a Servo Loop because the current servos about a commanded value We are surrounded in our everyday lives by a multitude of servo loops For example many of today s luxury cars have wh
13. micro sec 8 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL CHAPTER 3 PERSONALITY PREAMP CARD CHAPTER THREE PERSONALITY PREAMP CARD 3 1 INTRODUCTION TO THE PERSONALITY PREAMP CARD GA369 3 The Personality Preamp card is a modular plug in card that comes in two versions velocity mode and current mode Schematic and Board Assembly prints for this card are found in Appendix C drawing numbers 369 1200 369 1202 and will be referred to in the following description The Personality card contains the main high gain preamp with all associated system alignment adjustments This card greatly enhances system troubleshooting and repair in that if an amplifier should fail simply remove the Personality card which has all of the original system constants adjusted in and replace it on a spare amplifier This eliminates system realignment when changing out amplifiers Also a motor tach load may be aligned at the factory and then just the Personality card sent to the field for system test 3 1 1 VELOCITY MODE PERSONALITY PREAMP CARD The Velocity Mode Preamp Card contains the main high gain preamp with all the associated system alignment adjustments to close a velocity loop using a D C tachometer for velocity feedback Refer to Appendix C drawings 369 1200 and 369 1202 3 1 2 CURRENT MODE PERSONALITY PREAMP CARD The Current Mode Personality Card contains all the system alignment adjustmen
14. on must be able to support its weight but does not need to provide cold plate cooling for the amplifier It is recommended to allow a minimum of one inch clearance from any side and the top of the amplifier to the cabinet wall for air circulation wire routing and terminal strip access The amplifier package should be mounted in a clean dry enclosure with a maximum ambient temperature of 50 C To ensure maximum reliability keep the amplifier cabinet cool and free from dust oil and other contaminates NEVER INSTALL THE AMPLIFIER PACKAGE IN ANY LOCATION WHERE FLAMMABLE OR EXPLOSIVE VAPORS ARE PRESENT 5 2 WIRING SIZE AND PROPER TECHNIQUE Please refer to Appendix B GA369 installation diagrams These installation diagrams show the necessary external connections to ensure proper amplifier operation Glentek recommends that your wiring be in accordance with all national and local codes that are applicable to your system Wire size must be sufficient to accommodate the maximum continuous current that will be run thru it Recommended wire sizes for the GA369 are as follows MOTOR ARMATURE 14 ga 0 105 VAC POWER INPUT from secondary of power transformer 14 ga 120 VAC FOR FANS 16 ga twisted pair SIGNAL INPUT 22 ga mm 2 conductor with shield TACHOMETER INPUT 22 ga mm 2 conductor with shield Terminate shield one end only at tachometer common TB1 terminal 6 of amplifier module When wiring to and from the drive cabin
15. operations Next set the Signal potentiometer R15 or R45 of the signal input that you are using to the gain required by your system Ex 10 VOLTS INPUT 2000 RPM Adjust Balance potentiometer R43 one more time to null out any offset For all remaining adjustments when placing the amplifier in your system only the Signal potentiometer R15 or R45 and Balance potentiometer R43 should be adjusted Tach Voltage RPM Time Critically Under Damped Over Damped Damped Too much Tach Not enough Tach or not enough Bandwidth Figure 6 4 6 5 CONNECTING AMPLIFIER TO DIGITAL POSITION LOOP Before connecting the amplifier to the Digital Position Loop be sure adjustments of section 6 4 have been made Start out with Loop Gain potentiometer R18 fully CCW and activate the Digital Position Loop Slowly turn loop Gain potentiometer CW If servo runs away immediately adjust Loop Gain fully CCW and turn power OFF Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 17 GA369 MANUAL CHAPTER 6 START UP AND ADJUSTMENT PROCEDURE 1 His possible at this time that the Digital Loop is reverse phased An example of this would be if a positive voltage from the velocity DAC required the motor to turn CW however it turned CCW instead causing the encoder feedback signal to count up instead of down This would cause a run away condition If you are out of phase as described be sure power is OFF and rever
16. power transformer and motor output inductors are not standard parts of the amplifier package Glentek has power transformers and inductors in stock for your system requirements Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 7 GA369 MANUAL CHAPTER 2 DESCRIPTION FEATURES AND SPECIFICATIONS 2 43 SIGNAL INPUTS VOLTAGE MAXIMUM Aux Input 13 Volts Sig Input 70 Volts Tach Input 90 Volts Input Impedance Minimum 10K Ohm GAIN MAXIMUM Sig and Aux Inputs 15 000 Amps Volt Tachometer 7 000 Amps Volt Drift Ref to Input Maximum 0 01 mV C Frequency Response Minimum 750 Hz Dead Band None Form Factor 1 01 2 4 4 OTHER INPUTS AND OUTPUTS and Limits Type A Activated by a 3ma contact closure to common Total Inhibit Type A Activated by a 3ma contact closure to common Gnd to reset Activated by a 3ma contact closure to common Fault Monitor 4 7k ohm pull up to 5VDC or 15VDC will sink 50 ma 2 4 5 MECHANICAL SEE APPENDIXES B4 B7 Mounting Any Position Height 7 inches Cooling 50 C Ambient Max Baseplate GA369 2A 2 6 25 in x 8 8 in GA369 4A 4 6 25 in x 12 2 in GA369 6A 6 6 25 in x 19 0 in Weight GA369 1 1 14 Ibs GA369 2A 2 5 1 lbs GA369 4A 4 7 5 lbs GA369 6A 6 9 5 165 2 4 6 TYPICAL FACTORY SETTINGS Sig and Aux Gain 5V Sig 7V Tach Tach Gain 50 Loop Gain CCW OFF Comp CW Mm Bandwidth LS ECB 6A 0 5 sec HS ECB 29A 10
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18. 69 are modular high power high bandwidth PWM servo amplifiers designed for use with DC permanent magnet servomotors The GA369 utilize todays latest technology in power semiconductors for high efficiency which in turn makes the amplifiers extremely reliable in today s and tomorrow s demanding applications 22 DESCRIPTION OF AVAILABLE OPTIONS AND MODEL NUMBERING INFORMATION 2 2 1 SIGNAL INPUT The GA369 is available with two signal inputs one single ended and one differential The differential input is marked Aux and Aux Ret and may be connected single ended by grounding Aux Ret Refer to Appendix C drawings 369 1200 and 369 1202 2 2 2 VELOCITY MODE OR CURRENT MODE OPTIONS The GA369 are most often used to close a critically damped velocity loop using a DC tachometer for velocity feedback However this high gain input summing amplifier can be bypassed providing an input directly to the current loop amplifier The part number designator for this Current Mode option is CM and follows next in the sequence of part number Ex GA369CM If the CM is absent from the part number the amplifier will be configured for Velocity Mode Refer to Appendix C drawings 369 1200 or 369 1202 2 2 3 AND LIMITS The GA369 may be configured for three different end of travel limit circuits with pull up resistors 4 7k to either 5VDC or 1 5VDC Refer to Appendix C drawing 369 1200 Type A Requires grounding of pin 8 or pin 9 to disable amplifi
19. 7 2 4 LOW SPEED ELECTRONIC CIRCUIT BREAKER LS ECB SHUTDOWN The LS ECB is tripped when a preset current threshold is exceeded for a preset length of time typically 6 Amps for 0 5 seconds List of possible causes 1 Binding or stalling of motor shaft 2 Overload of amplifier output to motor 3 Large reflected load inertia The time delay is typically set at factory to your system requirements RESET The amplifier can be reset two ways by grounding the RESET input J1 7 with a 3ma contact closure to amplifier common J1 11 for 1ms minimum or by removing all power and waiting for the buss capacitors to discharge and reapplying power Refer to appendix B drawings 369 1007 or 369 1200 7 2 5 HIGH SPEED ELECTRONIC CIRCUIT BREAKER HS ECB SHUTDOWN The HS ECB is tripped by 29 or more Amps of output current for 10 micro seconds Glentek Inc 208 Standard Street El Segundo California 90245 U S A 810 322 3026 19 GA369 MANUAL CHAPTER 6 START UP and CALIBRATION List of possible causes 1 Shorted motor leads 3 Intermittent motor short 2 Motor inductance too low 4 Motor commutator flash over Reset is accomplished the same way as for the LS ECB above 7 3 FACTORY REPAIR Should it become necessary to return the GA369 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 informa
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21. CT FOR PROPER INPUT SIGNALCS INPUT REPAIR SIGNALCS INPUT SIGNAL OK CONTROLLER RETURN AMPLIFIER TO GLENTEK FOR REPAIR Fault Chart 3 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 810 322 3026 23 GA369 MANUAL APPENDIX A FAULT TRACING CHARTS MOTOR DOES NOT DEVELOP MAXIMUM OUTPUT SPEED ND LOAD APPLIED IN EITHER DIRECTION MAIN REPAIR MAIN POWER TRANS AMPLIFIER POWER SOURCE INPUT VOLT IN MULTI AXIS OK REPLACE IS TA AT OTHER AMPS MAIN POWER BASEPLATE TRANSFORMER NOTE 1 OPERATE IS D C BUSS RECTIFIERS VOLTAGE OPEN NDTE 1 CHECK amp REPLACE TACH CHANGE TO CORRECT DEFECTIVE BUSS VOLTAGE CAPACITORS C201 DUTPUT DK V KRPM TACHOMETER AND C202 V KRPM DR CONSULT FACTORY AMP CHECK FOR MAX DUTPUT MECHANICAL VULTAGE DK BINDING OR NOTE 2 REPLACE MOTOR RETURN AMPLIFIER TO GLENTEK FOR REPAIR Fault Chart 4 24 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL REPAIR MAIN PDWER SOURCE REPLACE MAIN POWER TRANSFORMER REPLACE RECTIFIER CHECK AND REPLACE DEFECTIVE BUSS CAPACITOR C201 APPENDIX A FAULT TRACING CHARTS MOTOR DOES NOT DEVELOP MAXIMUM OUTPUT TORQUE IN EITHER DIRECTION INPUT VOLT 1 VOLTAGE AT TB201 DK NOTE 1 IS RECTIFIERCS OK S BUSS RIPPLE VOLTAGE HIGH NOTE 3 REPAIR INPUT SIGNAL CONTROLLER Fault Chart 5 IS AMPLIFIER IN MULTI AXIS
22. ION CHAPTER FIVE INSTALLATION PROCEDURE 5 1 MOUNTING 5 2 WIRING SIZE AND PROPER TECHNIQUE 5 3 BASEPLATE CONNECTIONS 5 3 1 INPUT FROM SECONDARY OF POWER TRANSFORMER 5 4 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 3 GA369 MANUAL TABLE OF CONTENTS 5 4 6 5 4 7 5 4 8 5 4 9 CHAPTER SIX START UP AND ADJUSTMENT PROCEDURE SAFETY PRECAUTIONS AMPLIFIER ALIGNMENT INTRODUCTION VELOCITY LOOP PHASING TACH GAIN ADJUSTMENT CONNECTING AMPLIFIER TO DIGITAL POSITION LOOP CHAPTER SEVEN MAINTENANCE REPAIR AND WARRANTY 7 1 MAINTENANCE INTRODUCTION 7 2 REPAIR FAULT TRACING FAULT TRACING CHARTS PART REPLACEMENT 2 LOW SPEED ELECTRONIC CIRCUIT BREAKER LS ECB SHUTDOWN 7 2 5 HIGH SPEED ELECTRONIC CIRCUIT BREAKER HS ECB SHUTDOWN 7 3 FACTORY REPAIR 7 4 WARRANTY APPENDIX A FAULT TRACING CHARTS FAULT CHART 1 Motor does not turn in either direction FAULT CHART 2 Motor only turns in one direction FAULT CHART 3 Motor wanders and hunts or does not track smoothly FAULT CHART 4 Motor does not develop maximum output speed no load applied in either direction FAULT CHART 5 Motor does not develop max output torque in either direction ENGINEERING NOTES FOR FAULT TRACING CHARTS APPENDIX B AMPLIFIER DRAWINGS INSTALLATION SCHEMATIC GA369 369 1007 ASSEMBLY CONTROL BOARD GA369 1 369 1002 INSTALLATION DIAGRAM GA369 1 369 1008 INSTALLATION DIAGRAM GA369 2A 2 369 1205 I
23. NSTALLATION DIAGRAM GA369 4A 4 369 1207 INSTALLATION DIAGRAM GA369 6A 6 369 1211 INSTALLATION DIAGRAM GA369 8A 8 369 1209 APPENDIX C PERSONALITY PREAMP SCHEMATIC PERSONALITY PREAMP 369 1200 ASSEMBLY PERSONALITY PREAMP 369 1202 4 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL CHAPTER ONE INTRODUCTION INTRODUCTION 1 1 INTRODUCTION TO THE GA369 MANUAL This manual is intended for use with Glentek s TORQUE SWITCH series model GA369 Pulse Width Modulated PWM servo amplifiers It provides all of the information that is required for installation alignment and maintenance of the GA369 We suggest that you take the time to read this manual from cover to cover before trying to work with a GA369 amplifier If you have any questions that you can not find the answer to in this manual please feel free to call and discuss your problem or question with a Glentek applications engineer Having been in the servo system busi ness for over 26 years we have a vast pool of applications knowledge waiting to help you Thank you for using Glentek s products It is our goal to save you money time and provide you with a superior prod uct Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 5 GA369 MANUAL CHAPTER 2 DESCRIPTION FEATURES AND SPECIFICATIONS CHAPTER TWO DESCRIPTION AND SPECIFICATIONS 2 1 DESCRIPTION OF THE GA369 The GA3
24. OPERATION amp SERVICE MANUAL Model GA369 Pulse Width Modulated Servo Amplifier GLENTEK Solutions for Motion Control GA369 MANUAL TABLE OF CONTENTS TABLE OF CONTENTS CHAPTER ONE INTRODUCTION 1 1 INTRODUCTION TO THE GA369 MANUAL CHAPTER TWO DESCRIPTION AND SPECIFICATIONS 2 1 DESCRIPTION OF THE GA369 2 2 AVAILABLE OPTIONS AND MODEL NUMBERING 2 SIGNAL INPUT VELOCITY MODE OR CURRENT MODE OPTIONS AND LIMITS TOTAL INHIBIT CARRIER FREQUENCY MULTI AXES CONFIGURATIONS EXAMPLE MODEL NUMBERING PROTECTION CIRCUITS DRIVE INHIBIT INDICATOR OPERATION RED LED LOW SPEED ELECTRONIC CIRCUIT BREAKER RED LED 3 HIGH SPEED ELECTRONIC CIRCUIT BREAKER RED LED SPECIFICATIONS OUTPUT POWER INPUT POWER SIGNAL INPUTS OTHER INPUTS AND OUTPUTS MECHANICAL ALSO SEE APPENDIXES B4 B7 AND Bi0 B13 TYPICAL FACTORY SETTINGS CHAPTER THREE PERSONALITY PREAMP CARD 3 1 INTRODUCTION TO THE PERSONALITY PREAMP CARD GA369 3 3 1 1 VELOCITY MODE PERSONALITY PREAMP CARD 3 1 2 CURRENT MODE PERSONALITY PREAMP CARD 3 2 DESCRIPTION OF OPTIONS AND ADJUSTMENTS 3 2 1 POTENTIOMETER ADJUSTMENTS 3 2 2 INPUT AND OUTPUT SIGNALS 3 3 REMOVAL AND INSTALLATION 3 4 TROUBLE SHOOTING WITH THE PERSONALITY PREAMP CARD CHAPTER FOUR THEORY OF OPERATION INTRODUCTION TO THEORY OF OPERATION OPERATION OF OUTPUT SWITCHING TRANSISTORS H TYPE OUTPUT BRIDGE CONFIGURATION PULSE WIDTH MODULATION PWM CURRENT LOOP OPERATION VELOCITY LOOP OPERAT
25. OW 123NNDOSIG W3ISAS 53H29 NV LIGIHNI JVN331X3 3 AUW33 2 31DN AD 3991 DA 109100 I 310N AD 3991 1DA ssna Ja JOVADVA SIXY 11 NH NI 3 31 4I 1dWV SI ND 31 JIgIHNI 3A130 N330 gt NADIE ND 14 3813 SI NOI193910 33H113 NI N3NL LON S300 SO1DW 3DION N3dD 34D 23H23 AD N3dD gt NAD18 2024 30 1024 SI 1 310N No 10281 19 39v1 DA SI xD LIDA LAdNI 1029 ADLIDWIVO SSng 3A1193330 32971438 NV 523H2 331311238 32V 1833 AND YIAOd NIVW ATdd 34 S3Sn3 N3dD 3941938 YOLOW 133NND3SIC YaWaOASNVaL 33 Ud NIVH 3399143323 39300S YIMOA NIVA 314433 JIMO NIVH ANY 3VA021 Addy YOLOW 123NN0233 1103315 lMDHS 404 ONIJIA NV YOLOW 333H3 913 5401199999 5509 S431311933 N3d0 X04 333H3 QVO 143AU YO 13DHS 1N31118331NI 30 3 YOLINON NDIlv33d4D O1 N30133 N3dD gt NADA 2023 YO 1024 SI 58011294952 SSNA SY31311938 313DHS X04 ADIHO Fault Chart 1 310 322 3026 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 22 GA369 MANUAL APPENDIX A FAULT TRACING CHARTS MOTOR ONLY TURNS IN ONE DIRECTION CHECK EXTERNAL LIMIT SIGNALS J1 8 9 REMOVE EXTERNAL LIMIT AND CHECK SYSTEM RETURN AMPLIFIER TO GLENTEK FOR REPAIR Fault Chart 2 MOTOR WANDERS AND HUNTS OR DOES NOT TRACK SMOOTHLY INSPECT THE TACH SIGNAL WITH AN OSCILLOSCOPE REPLACE TACHOMETER INSPE
26. PACKAGE OTHER AMPS ON BASEPLATE OPERATE D C BUSS VOLTAGE OK NOTE 1 INSPECT CURRENT SENSE OUTPUT TP 7 5 4 5 CURRENT SIGNAL OK INSPECT FOR PROPER INPUT SIGNAL COMMAND SIGNAL OK RETURN AMPLIFIER TO GLENTEK FOR REPAIR Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 25 GA369 MANUAL APPENDIX A FAULT TRACING CHARTS ENGINEERING NOTES FOR FAULT TRACING CHARTS NOTE 1 To measure the DC Buss voltage carefully connect a voltmeter across the bleeder resistor attached to the DC Buss filter capacitor The proper DC Buss voltage from the main DC Buss transformer by 1 4 Ex For 70 VAC input you should read 70 x 1 4 or approx 100 VDC Buss voltage The DC Buss voltage will vary depending on if the motor is under a heavy or light load The DC Buss voltage sag under heavy loads This of course is normal for unregulated DC power supplies NOTE 2 The output voltage to the motor can be checked by applying a positive voltage to the signal input then a negative and observing the voltage swing at the amplifier motor output terminals Keep in mind the Loop Gain and signal potentiometers must be set at least somewhat CW This test can be made with motor disconnected from amplifier NOTE 3 A low but not zero DC Buss voltage could indicate an open or defective DC Buss filter capacitor To check capacitor remove from circuit and check with an ohmmeter A visual check of the capac
27. RRENT R57 Current Limit potentiometer sets the maximum acceleration and deceleration current R59 Loop Gain potentiometer is factory set to prevent amplifier maximum rated current from being exceeded when the current limit potentiometer is fully CW R43 Balance potentiometer used to null out any DC offset in the amplifier Ex 0 VDC INPUT 0 CURRENT OUTPUT 3 2 2 INPUT AND OUTPUT SIGNALS Connector P2 Pin No Signals to and from connector J1 AUXILIARY Differential signal input AUXILIARY RETURN Differential signal input SIGNAL Single ended signal input SIGNAL COMMON Signal common TACHOMETER Tachometer signal input TACHOMETER COMMON Signal common RESET Resets amplifier after a fault input LIMIT Inhibits motor rotation in the direction input LIMIT Inhibits motor rotation in the direction input TOTAL INHIBIT Inhibits motor rotation in the both directions input COMMON Signal common and 15 VDC common FAULT Fault monitor output Connector P3 Pin No Signals to and from power board INHIBIT Total inhibit output CURRENT SIGNAL Velocity error or current command output CURRENT SENSE Current sense input LIMIT Limit output LIMIT Limit output 15VDC 15VDC power COMMON 15 VDC and signal common COMMON 15 VDC and signal common COMMON 15 VDC and signal common 15 VDC 15 VDC power FAULT Fault input RESET Reset output 3 3 REMOVAL AND INSTALLATION When removing or installing the Perso
28. at is called automatic climate control To operate this servo loop you set the climate control to the tempera ture that you wish to be maintained in the interior of the car current command signal The selected temperature is then summed with the actual temperature from a thermometer current feedback and the output current error signal activates either the heater or the air conditioner until the set temperature current command signal is equal in magnitude but opposite in polarity to the actual temperature as measured by the thermometer current feedback 46 VELOCITY LOOP OPERATION Please refer to figure 4 1 for a diagram of a typical Velocity Loop The velocity loop s operational description is analogous to the current loop description except for the fact that the input signal is called the Velocity Command and the feedback signal from the DC tachometer is called the Velocity Feedback Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 13 GA369 MANUAL CHAPTER 5 INSTALLATION PROCEDURE CHAPTER FIVE INSTALLATION PROCEDURE 5 1 MOUNTING The installation diagrams in Appendix B show the bolthole mounting pattern to support the amplifier The mounting holes will accept a 1 4 inch bolt The base material is cadmium plated 060 inch thick steel THE MOUNTING BOLT SHOULD PROVIDE AN ELECTRICAL GROUND FOR THE CHASSIS TO MINIMIZE SHOCK HAZARD The surface that the amplifier package will be mounted
29. entiometer sets the amount of tach signal required by your system Use in conjunction with the Compensation potentiometer R16 to adjust the system bandwidth R43 Balance potentiometer used to null out any DC offset in the amplifier Ex 0 VDC INPUT 0 RPM R55 Compensation potentiometer sets the amount of bandwidth frequency response required by your system Use in conjunction with the Tachometer Gain potentiometer R14 to adjust the system bandwidth R57 Current Limit potentiometer sets the maximum acceleration and deceleration current R59 Loop Gain potentiometer used to reduce the velocity loop gain to zero when the system is first turned on to prevent run away operation Before turning the system on for the first time this potentiometer is set fully CCW to command zero current to the motor Once the system is correctly phased this potentiometer is set fully CW for all further system adjustments CURRENT MODE Refer to Appendix C drawings 369 1200 and 369 1202 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 810 322 3026 9 GA369 MANUAL CHAPTER 3 PERSONALITY PREAMP CARD R15 Signal Gain potentiometer sets the input voltage to output current required by your system for the single ended input Ex 5 VOLTS INPUT 2 AMPS OUTPUT CURRENT R45 Auxiliary Signal Gain potentiometer sets the input voltage to output RPM required by your system for the differential signal input Ex 5 VOLTS INPUT 2 AMPS OUTPUT CU
30. er To implement type A limits refer to appendix B drawing 369 1200 Type B Requires a positive voltage at pin 8 or pin 9 to disable amplifier To implement type B limits refer to Appendix B drawing 369 1200 Type C Requires the removal of a ground from pin 8 or pin 9 to disable amplifier To implement type C limits refer to Appendix B drawing 369 1200 The amplifier is normally shipped with the type A and limit configuration with 1 5V pull up resistors Designation letter A B or C is added next to the part number to indicate type of limit circuit desired Ex GA369CMA 1 would have type A limits 2 2 4 TOTAL INHIBIT The GA369 may be configured for three different Total Inhibit circuits See 2 2 3 AND LIMITS above and refer to drawing 369 1200 The amplifier is normally shipped with type A Total Inhibit 2 2 5 CARRIER FREQUENCY The GA369 is provided with a carrier frequency of 10 KHz Other carrier frequencies are available consult Glentek 2 2 6 MULTI AXES CONFIGURATIONS The single and multi axes part number designators are as follows GA369 1 Single amplifier module GA369 2A 1 2 Axes chassis with 1 Amplifier module GA369 2A 2 2 Axes chassis with 2 Amplifier modules GA369 4A 3 4 Axes chassis with 3 Amplifier modules GA369 4A 4 4 Axes chassis with 4 Amplifier modules GA369 6A 5 6 Axes chassis with 5 Amplifier modules GA369 6A 6 6 Axes chassis with 6 Amplifier modules 6 Glentek Inc 208 Standard Street
31. et it is considered good technique to route the power lines 16 ga and larger along different paths than the signal and tachometer lines This minimizes the amount of stray noise and pick up that is injected into the amplifier 5 3 BASEPLATE CONNECTIONS 5 3 1 INPUT FROM SECONDARY OF POWER TRANSFORMER The AC voltage that is used to form the DC Buss of the amplifier package is supplied from a separately mounted transformer that has been selected by Glentek for your application Connect the secondary of the power transformer to terminals 2 and 3 of TB201 on systems with a single phase input and to terminals 1 2 and 3 of TB201 on systems with a three phase input DO NOT APPLY ANY POWER YET AMPLIFIER CONNECTIONS AND FUNCTIONS 5 41 DC BUSS The DC Buss from the filter capacitor is connected to terminals 1 and 2 of terminal strip TB1 This connection is already made for you on our multiaxes packages The power transformer for the DC Buss is not a standard part of the amplifier package Glentek can advise on transformer specifications required Most styles and sizes are in stock at Glentek 14 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL CHAPTER 5 INSTALLATION PROCEDURE 5 42 MOTOR The Motor is connected to terminals 3 and 4 of terminal strip TB1 of the amplifier module SEE APPENDIXES B4 B7 In most cases if the motor inductance is less than 1 millihenry an i
32. he factory with a known motor tachometer and inertial load In testing at the factory we try to simulate the same conditions you will have in your system For this reason it is a good idea to start with the initial settings as shipped from the factory NOTE All of the following adjustments are to be made on the Personality Preamp card Refer to Appendix C drawings 369 1200 amp 369 1202 63 VELOCITY LOOP PHASING For proper servo operation it is necessary for the amplifier to receive negative feedback from the tachometer If the tachometer leads are reversed positive feedback the amplifier will run away To check the phasing of the motor and tachometer proceed as follows 1 Make sure Loop Gain potentiometer R59 is full CCW as shipped from factory 2 Make sure that nothing is connected to the Signal Input J1 3 or the Auxiliary Signal Input J1 1 or J1 2 Apply the main power Slowly turn the Loop Gain potentiometer R59 CW If the motor starts to run away turn the Loop Gain potenti ometer full CCW and reverse the motor armature leads Again turn the Loop Gain potentiometer CW The motor should be stopped or rotating slowly Leave Loop Gain potentiometer R59 full CW for all remaining adjustments and operations 6 4 TACH GAIN ADJUSTMENT 1 Atthis point the motor will be rotating slowly Adjust the Balance potentiometer R43 until the motor rotation is stopped While observing the tachometer output voltage with an oscill
33. itor seal port could show a blown pressure seal caused by a failed overheated capacitor 26 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL APPENDIX A AMPLIFIER DRAWINGS APPENDIX B AMPLIFIER DRAWINGS Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 27 AMPLIFIER DRAWINGS APPENDIX A GA369 MANUAL Fx T YN Le 2001 69 A DAG Sr206 317 7 00 935 13 133815 QBV NVIS B02 31 V3DISDINI 31N31O 1 69 V9 T3004 JILYWIHIS NDILIVTIVISNI se NW ME lt a gt l gt 11093 AlddAS JGASIT LINIAJI ANIWA Il gt gt 01 gt JIGIHNI 19101 3100Sgv 51102019 JIGIHNI WIDI 1 gt gt 1 gt 13533 GANY LIWII WNOILI3aI0 sss 1102812 3A130 AYSVA al 68Nnr91 SdWv4l2 l Di SdWv0gs Al 039NVH2 SNOISIA33 WAS 3SN3S 1N338N9 LIW 2 TIWAS 4 gt 9 gt 9 Woo HOWL 2 Sdav 1 A1l gt s gt gt gt S gt IndNI HOWL lt SAWNWL I A1 69 V9 aayoa al 1 1 2 0 1 gt Xnv Es a Jer taj Ir JI8THNI lt er 310 322 3026 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 28 AMPLIFIER DRAWINGS APPENDIX A GA369 MANUAL ue
34. l only carry the warranty if any supplied by the manu facturer It is also understood that you must look directly to such manufacturer for any defect failure claim or damage caused by such product or part including power transistors Under no circumstances shall Glentek Inc or any of our affiliates have any liability whatsoever for claims or damages arising out of the loss of use of any product or part sold to you Nor shall we have any liability to yourself or anyone for any indirect or consequential damages such as injuries to person and property caused directly or indirectly by the product or part sold to you and you agree in accepting our product or part to save us harmless from any and all such claims or damages that may be initiated against us by third parties 20 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 810 322 3026 GA369 MANUAL APPENDIX A FAULT TRACING CHARTS APPENDIX A FAULT TRACING CHARTS Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 21 FAULT TRACING CHARTS APPENDIX A GA369 MANUAL 339IA33S 01 NANI SDIUW 133NND332 404 331N31 01 NANLIJ i N3d0 NADJE dia NO 14 38N4 SI NO LIGIHNI WN331X3 SI 2194340 319719 3Sv8 NO SdWY ABHLO Da SIN3L1IN331N1 AD SLYOHS 3034 51109419 OLOW 333H3 913 ONIONIG 803 W31SAS 5123H2 33A ADd Addy 3NAOH ND 3804 3599134339 YOL
35. l system from damage due to excessive mechanical bind in the system or possibly driving into a hard mechanical stop Circuit operation is as follows When the motor current exceeds the value set at TP1 typically 3 0 VDC scale factor 1 VOLT 2 AMPS IQ3 1 switches positive and voltage on C5 begins integrating up If the current remains above the set point typically 0 5 seconds Q9 will trigger the ECB latch and the Drive Inhibited indicator 2 3 3 HIGH SPEED ELECTRONIC CIRCUIT BREAKER This circuit protects the amplifier from dead shorts across the amplifier output terminals The HS ECB is always factory set and should not be adjusted The typical factory setting is 29 Amps for 10 micro seconds Again this circuit triggers the ECB latch and the Drive Inhibited indicator 2 4 SPECIFICATIONS The specifications for each GA369 amplifier module is as follows 2 4 1 OUTPUT POWER OUTPUT CURRENT PEAK 12 AMPS OUTPUT CURRENT RMS 6 AMPS DC BUSS VOLTAGE 35VDCTO 70VDGC Higher and lower Buss Voltages available consult Glentek Note DC Buss voltage should be selected approximately 10 20 above the maximum voltage required at motor terminals for maximum system efficiency 2 4 INPUT POWER INPUT POWER FOR DC BUSS A fused single or three phase full wave rectifier and filter capacitor are provided on the base plate The AC input to this circuit is supplied by a separately mounted power transformer unique to the application The
36. n oscilloscope while applying and removing the DC input signal You will observe one of three possible waveforms Critically Damped Under Damped or Over Damped see figure 6 4 The waveform that for many systems is optimum is the critically damped waveform If the waveform that you are observing is critically damped proceed to step 9 If your waveform is under damped make the following adjustments Turn the Compensation potentiometer R55 CCW until the waveform becomes critically damped Note here that the limiting factor will be a motor oscillation you must always leave the Compensation potentiometer CW enough so that the velocity loop remains stable Ifthe waveform is still under damped after adjusting the Compensation potentiometer for maximum bandwidth turn the Tachometer Gain potentiometer R21 2 turns CCW and then again adjust Compensation potentiometer R55 CCW until waveform becomes critically damped Repeat procedure if necessary Again the servo velocity loop must at all times remain stable Consult the factory if necessary 8 Ifthe waveform is over damped make the following adjustments Turn the Tachometer Gain potentiometer R21 CW until a slight overshoot appears on the waveform then turn the Compensation potentiometer R55 CCW until a critically damped waveform is observed Now that the waveform is critically damped leave the Compensation R55 and Tachometer Gain R21 at these settings for all remaining adjustments and
37. nality Preamp card care must be taken not to damage any of the components under the card on the amplifier controller board or on the Personality card Removal Remove the retaining screw hold the Personality card by its edges and pull straight away from the amplifier controller board Do not pull on the components For amplifiers with Personality card mounted vertically remove amplifier module first before unplugging Personality card Installation Hold the Personality card by it s edges and carefully align the two 12 pin connectors with their mating sockets and push straight toward the amplifier controller board until it is firmly seated Do not press on any of the components and replace the retaining screw 3 4 TROUBLE SHOOTING WITH THE PERSONALITY CARD If your system exhibits a problem and a working amplifier module is available fault tracing can be expedited by removing the Personality Preamp card from the malfunctioning amplifier plugging it into the replacement amplifier and testing the system If the system does not work with the new amplifier module Refer to Chapter Seven on Maintenance and Repair for a more detailed fault tracing procedure However if the system does work with the new amplifier module check the malfunctioning unit for loose connections and retest the suspected unit in the system 10 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL CHAPTER 4 THEORY OF OPERATION
38. nductor should be connected in series with the motor leads The inductor is considered to be a separate part from the amplifier package Glentek can advise on the inductor specifications and most styles and sizes are in stock at Glentek IT IS IMPERATIVE THAT YOU DO NOT USE GROUNDED TEST EQUIPMENT ON THE MOTOR ARMATURE NOR CONNECT EITHER END OF THE MOTOR ARMATURE TO SIGNAL GROUND OR DC BUSS RETURN 5 43 SIGNAL INPUT The amplifier has two Signal Inputs one single ended Signal Input J1 3 and one differential Auxiliary Signal Input J1 1 Auxiliary Return J1 2 Please refer to Chapter 2 2 for options and model numbering information Typically when operating in the velocity mode the input signal range is 10 VDC The input voltage is summed with a precision DC tachometer to provide accurate velocity control at the servo motor shaft see fig 4 1 The Signal Gain potentiometer 10 K ohm R15 and Auxiliary Gain potentiometer R45 adjust the motor velocity desired for a given input voltage velocity command 5 4 4 TACHOMETER INPUT The Tachometer is connected to terminals 5 and 6 of terminal strip J1 of the amplifier module see 5 2 for recommended wire type amp size 5 4 5 CURRENT SENSE The Current Sense output signal can be monitored at TP 7 on the preamp card see appendix C drawings 369 1200 and 369 1202 It is an isolated output signal that is proportional to motor current The scale factor is 1 VOLT 2 AMPS 5 4 6 AND
39. oscope apply a step input voltage at the Signal Input terminal of the amplifier A step input voltage can be simulated by applying and removing a flashlight battery to the Signal Input For this purpose the battery is usually mounted inside of a small box with a switch Common names used to describe this DC signal voltage source are Battery Box or DC Simulator Elaborate signal sources are often made for this purpose including bipolar output potentiometer output adjust and polarity reversing switches etc You often hear the term DC Box the velocity loop servo being used by people working on servo systems This Signal Box may be purchased from Glentek Inc Part Number BB700 16 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL CHAPTER 6 START UP AND ADJUSTMENT PROCEDURE At this point the motor should be running smoothly While applying and removing the DC input signal adjust the Current Limit potentiometer R57 for desired maximum acceleration and deceleration current Motor current should be observed by using an oscilloscope at TP 7 Scale factor of voltage at this point is 1 VOLT 2 AMPS of motor current Leave the Current Limit potentiometer at this setting for all remaining adjustments Adjust the Signal Gain potentiometer R15 or R45 of the signal input that you are using so when you apply the DC signal the motor rotates at approximately 400 RPM Observe the tachometer voltage with a
40. se the motor leads at the amplifier and also the tachometer leads This will cause the motor to rotate in the opposite direction as it did before properly phasing the Digital Loop 2 Now with the Digital Loop operating turn the Loop Gain potentiometer R1B fully CW and command a small move Slowly increase or decrease the Signal Gain potentiometer R12 or R13 of the amplifier until the servo is operating as required It should be noted here that too much Signal Gain at this point could cause instability oscillation Do not stay in this oscillating condition long as it may result in system mechanical or electrical damage Be sure when all signal adjustments are made that the balance is rechecked and adjusted for zero rotation for zero signal input 3 It should be noted here that the GA369 are designed to operate with many different systems and if after reading this manual you have further questions do not hesitate to call a Glentek applications engineer ENGINEERING NOTE After all systems are aligned and functioning it is good practice to remove power from the amplifier and using a digital ohm meter measure the impedance value of the following potentiometer wiper settings with respect to signal ground These values may be uselul for the next machine you align or for maintenance of this system at a later date Make these measurements on each amplifier on a multiaxis baseplate Record resistance measurements Tach potentiometer wiper
41. th the observable fault follows Fault Chart 1 Motor does not turn in either direction Fault Chart 2 Motor only turns in one direction Fault Chart 3 Motor wanders and hunts or does not track smoothly Fault Chart 4 Motor does not develop maximum output speed no load applied in either direction Fault Chart 5 Motor does not develop maximum output torque in either direction 7 2 2 FAULT TRACING CHARTS The fault tracing charts in Appendix A start with an observable fault listed at the top of each chart Follow the line connections between blocks by your answers to the questions noted in the diamond shape blocks until the defective part is isolated The charts are to be used only as a guide to identify the parts or assemblies that Glentek recommends as the lowest level of repair The fault tracing procedures assume that only a single failure mode exists 7 223 PART REPLACEMENT The removal and replacement of the defective assembly can be accomplished with standard shop procedures The assemblies that may be easily removed are as follows Fuses F201 F202 on baseplate and Fl on each amplifier module Rectifier BR2O1 and BR202 Capacitor C201 C202 Amplifier Module A1 A8 After reviewing the fault tracing charts you may conclude that the complete amplifier should be returned to Glentek for failure analysis repair and retesting to specifications This is particularly true with failure modes in the amplifier module sections Al thru A8
42. tion A Serial number and assembly unit B Company name and representative returning the unit C A brief notation explaining the malfunction 0 Date the unit is being returned Repackage the unit with the same care and fashion in which it was received Label the container with the appropriate handling stickers e g FRAGILE HANDLE WITH CARE Contact a Glentek representative and confirm the unit is being returned to the factory and obtain an AMA NUMBER Return Material Authorization Return the unit by the best means possible The method of freight chosen will directly affect the timeliness of its return 7 4 WARRANTY Any product or part thereof manufactured by Glentek Inc described in the manual which under normal operation conditions in the plant of the original purchaser thereof proves defective in material or workmanship within one year from the date of shipment by us as determined by an inspection by us will be replaced free of charge FOB our factory El Segundo California 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 Glentek s liability is limited to repair or replacement of defective parts Any product or part manufactured by others and merely installed by us such as electric motors etc is specifically not warranted by us and it is agreed that such product or part shal
43. to signal ground ohms Signal potentiometer wiper to signal ground ohms Comp potentiometer wiper to signal ground ohms Current limit potentiometer wiper to signal ground ohms Signal voltage Tachometer voltage Date Taken Note any changes to compensation components etc 18 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 GA369 MANUAL CHAPTER 7 MAINTENANCE REPAIR AND WARRANTY CHAPTER SEVEN MAINTENANCE REPAIR AND WARRANTY 7 1 MAINTENANCE The GA369 amplifiers do not require any scheduled maintenance 7 2 REPAIR If your system exhibits a problem this manual should assist you to identify the fault and to replace the defective component or sub assembly The GA369 amplifiers are modular assemblies and each individual amplifier section is designed to be easily removed and replaced at the field level It is Glentek s recommendation that a failed amplifier module be replaced in the field and returned to Glentek for failure analysis and repair However Appendixes B and C contain complete system schematics that in case of extreme emergency should permit a skilled electronic technician to trouble shoot the circuit boards to levels lower than those recommended as replaceable 7 2 1 FAULT TRACING This section will aid in the location of defective replaceable components and assemblies A list of the fault tracing charts in Appendix A along wi
44. ts to control a current mode amplifier Refer to Appendix C drawings 369 1200 and 369 1202 3 2 DESCRIPTION OF OPTIONS AND ADJUSTMENTS The Personality Preamp card is a small printed circuit card 3 3 x 4 3 standing on two 12 pin connectors 0 45 tall that mate with appropriate sockets on the amplifier control board The Personality card is most often used to close a velocity loop using a DC tachometer for velocity feedback However the high gain input summing amplifier can be bypassed providing an input directly to the current loop amplifier Current Mode option If the Current Mode CM option is specified the Velocity Mode Personality Preamp Card is converted to a Current Mode Personality Preamp Card Refer to Appendix C drawings 369 1200 and 369 1202 3 2 1 POTENTIOMETER ADJUSTMENTS The following is a description of the potentiometer adjustments used for the two modes of operation Please refer to Chapter Six on Start Up and Adjustment Procedures for a detailed description of how to set these potentiometers VELOCITY MODE Refer to Appendix C drawings 369 1200 and 369 1202 R15 Signal Gain potentiometer sets the input voltage to output RPM required by your system for the single ended input Ex 10 VOLTS INPUT 2000 RPM R45 Auxiliary Signal Gain potentiometer sets the input voltage to output RPM required by your system for the differential signal input Ex 10 VOLTS INPUT 2000 RPM R21 Tachometer Gain pot
45. urrent loop had been changed in polarity the output transistor switching waveform would be as shown in figure 4 3B QA amp QC ON Figure 4 3B Transistor switching OFF TIME waveform when current flows from B through D QB amp QD ON If a larger current of the same polarity was commanded to the output transistors see fig 4 3B the ON time widths of B and 0 would automatically increase to provide more current From the previous examples it is easy to understand why this output transistor switching technique is referred to as Pulse Width Modulation To change the magnitude and polarity of the current flow in the motor the pulse widths of the opposite pairs of transistors are modulated The frequency at which these output transistors are switched ON and OFF is referred to as the Carrier Frequency After realizing how the PWM amplifier output works it becomes apparent that some inductance must be added to the motor circuit to prevent excessively high AC current ripple and heating in the servomotor Consult a Glentek applica tions engineer for recommended inductance Now that we have a good understanding of how the current is provided from an H TYPE Pulse Width Modulated PWM bridge let s analyze the operation of the current loop 4 5 CURRENT LOOP OPERATION Please refer to figure 4 1 for a diagram of the Current Loop In control electronics the symbol sigma with the circle around it is referred to as a Summing Junction The manner
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47. witching of the opposite pairs of transistors current can be made to flow through the motor in either direction using a single polarity power supply as shown in figure 4 2 To provide motor current in one direction A and C are turned ON while B and D remain in the OFF state To provide motor current in the other direction B and 0 are turned ON while A and C remain in the OFF state 44 PULSE WIDTH MODULATION PWM Pulse Width Modulation is the technique used for switching opposite pairs of output transistors ON and OFF to control the motor drive current When zero current is commanded to the current loop the opposite pair of transistors are turned ON and OFF as shown in figure 4 3 Note that since the pulse widths are equal the net DC current in the motor is equal to zero Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 11 GA369 MANUAL CHAPTER 4 THEORY OF OPERATION QA amp QC ON Figure 4 3 Transistor switching OFF TIME waveform at zero current QB amp QD ON When a non zero current is commanded to the current loop the transistor switching waveform is as shown in figure 4 4A Since there is a non zero current command the output transistor pulse widths will change and the motor will see a net DC current flowing from A through C see fig 4 3A QA amp QC ON Figure 4 3A Transistor switching OFF TIME waveform when current flows from A through C QB amp QD ON If the input to the c
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