Table of Contents
Advertisement
Quick Links
Advertisement
Table of Contents
Related Manuals for Glentek SMA8105
Summary of Contents for Glentek SMA8105
- Page 1 OPERATION & SERVICE MANUAL Torque-Switch Series® Model SMA8105 Model SMA8205 Model SMA8305 Brushless Amplifier System MANUAL#: 8005-1040 REVISION: (A) DATE: 10-8-96. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
-
Page 2: Table Of Contents
2.8 Tachometer (Velocity Mode) Feedback Options ......... 17 2.9 Commutation Using Resolver ..............17 2.10 Current Mode in Sine/Resolver or Trapezoidal Amplifier vs Two/Three Phase Input Current Mode Amplifier............17 2.11 Protection Circuits..................17 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... - Page 3 5.3 Trapezoidal Mode Amplifier Configuration........... 28-30 5.3.1 +15V/+5V Logic Level Configuration..........28 5.3.2 Standard Configuration ..............29 5.3.3 Integrator Configuration..............29 5.3.4 Hall-Sensor Configuration ..............29 5.3.5 Motor Reverse Configuration ............. 29 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
- Page 4 6.5.2 Three Phase Input Current Mode Calibration Procedure....39 6.6 Calibration Setup Record................40 6.7 Resolver Alignment Procedure ..............41-42 Chapter Seven: Maintenance, Repair and Warranty 7.1 Maintenance ....................43 7.2 Amplifier Faults .................... 43-46 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
- Page 5 SMA8305 2Ø/3Ø Current Mode Installation Schematic (8000-1330) ....61 SMA8305 2Ø/3Ø Current Mode Assembly Drawing (8000-1331) ......62 Appendix C: Custom Configurations SMA8X05-2A-2 2-axis Installation Drawing (8005-1037)........64 SMA8X05-4A-4 4-axis Installation Drawing (8005-1038)........65 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
-
Page 6: Introduction
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. -
Page 7: Chapter One: Description, Features And Specifications
• Trapezoidal Mode (SMA8105/SMA8105HP) - In this mode of operation, which is also commonly 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: •... -
Page 8: Features
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. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 9: Multi-Axis Power Supply(Gp8600-4000)
Line operated AC power operation: Fused AC input for single or three phase inputs with in-rush current limit at turn-on. No power isolation transofrmer is required. • Bridge rectifier(s), filter capacitor and cooling fans. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 10: Specifications
40/-0.5V max. Terminated by 10,000+. • 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. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 11: System
4.75 x 1.38 x 4.80 1.00 SMA8X05-2A-2 (2 Axis Amplifier System) 6.75 x 6.25 x 6.5 6.00 SMA8X05-4A-4 (4 Axis Amplifier System) 11.00 x 6.75 x 6.5 9.00 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 12: Chapter Two: Theory Of Operation
AC waveform. Section 2.5 dicusses these waveforms. Figure 2.1 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 13: Servo Loops
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. Figure 2.2b Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 14: Brushed Motors Vs Brushless Motors
On the next page is a summary of advantages and disadvantages of brush type motor/amplifiers and Figure 2.3 Brush-type and Brushless-type Motors Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 15: Sinusoidal Vs Trapezoidal
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 SMA8105 trapezoidal mode amplifier produces a trapezoidal output. -
Page 16: The Advantages And Disadvantages Of A Trapezoidal Amplifier System
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 SMA8105 is a trapezoidal brushless amplifier which contains the necessary electronics for motor commutation and also has the PSEUDO-TACH option for better speed control. -
Page 17: Tachometer (Velocity Mode) Feedback Options
Also, there are circuits which limit the motor from running in either or both directions. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 18: Chapter Three: Model Numbering
Chapter Three: Model Numbering 3.1 Introduction: This chapter contains the model numbering system for the SMA8105, SMA8205 and SMA8305 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. -
Page 19: Sine/Resolver Mode
Motor Reverse: 0=OFF, (Default); 1=ON; see section 5.3.5. Tach Reverse 1=ON, (Default); 0=OFF; see section 5.3.7. DC Buss Voltage 0=20 - 80 Vdc 1=80 - 350 Vdc 2=Special Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 20: Two/Three Phase Input Current Mode
DC Buss Voltage 0011=3 1011=B 0 = 20 - 80 Vdc 0100=4 1100=C 1 = 80 - 350 Vdc 2 = Special 0101=5 1101=D 0110=6 1110=E 0111=7 1111=F Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 21: Multi Axis Amplifier System
NOTE: The multi-axis amplifier label will be mounted on the baseplate and each amplifier module will contain its own label and serial number. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 22: Chapter Four: Installation
Glentek stocks a complete line of inductors for virtually every application. IMPORTANT: The signal wiring to hall-sensors for the SMA8105, resolver for SMA8205 (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 in a twisted-pair, shielded cable. -
Page 23: Wire Size And Type
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. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 24: The Signal Connector
Mating connector for J5: molex 2695 Series (P/N: 22-01-3057). • Crimp Terminals for the above mating connector: ® molex Crimp Terminals (P/N: 08-55-0102): • 15 microinch select gold plated. • brass. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 25: Single Amplifier Module Connections(Sma8X05-1)
RESET IN J1-13 Resets fault latch. MTR TEMP J1-14 Motor over temperature switch input. DIG. TACH(SMA8105) J1-15 Digital tach output in trapezoidal mode or N/C(SMA8205) Auxillary in sine/resolver mode. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 26: Signal Connections For The 2/3 Phase Current Mode Amplifier
HALL 2 J4-8 Hall sensor 2. Check motor data for phasing. HALL 3 J4-9 Hall sensor 3. Check motor data for phasing. COMMON J4-10 Common for hall sensors. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 27: Signal Connections For The Sine/Resolver Mode Pre-Amp
Negative phase Z signal output. J4-G Common ground. Resolver (J5): J5-A Sine signal input. J5-B Sine/Cosine return. J5-C Cosine signal input. J5-D Excitation return. J5-E Excitation signal input. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 28: Chapter Five: Configuration
S1-2 - ON FAULT standard not available not available not available 5.3.1 +15V/+5V Logic Level Configuration (Default: S1-1=OFF): • +15V: S1-1 = OFF. • +5V: S1-1 = ON. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 29: Standard Configuration
5.3.6 Simulated Tach - Disable Configuration(Default: S2-3=ON): The simulated tachometer disable is turned ON when external tachometer is used. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 30: Simulated Tach - Reverse Configuration
MTR REVERSE See section 5.3.5 (normally OFF) S1-5 TACH REVERSE See section 5.3.7 (normally ON) S1-6 INTEGRATOR See section 5.3.3 (normally OFF) S1-7 VEL MODE S1-8 CUR MODE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 31: Encoder Output Resolution Configuration
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. -
Page 32: Motor Pole Configuration
+5V: S1-6 - ON. 5.5.2 Standard Configuration for Two/Three Phase Input Current Mode: Dip-switch Switch Name 2Ø current mode 3Ø current mode S1-8 2 pase input S1-7 3 phase input Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 33: Chapter Six: Start Up And Calibration
Required Equipment: Oscilloscope, voltmeter & battery box. The battery box serves as a step input voltage command, applying and removing a flashlight battery can also be used for this function. Glentek sells a battery box BB-700 which is ideal for this function. 6.2 Initial Start Up: When applying power to start up your amplifier system for the first time, we recommend you follow this procedure. -
Page 34: Velocity And Simulated Velocity Mode Calibration Procedure
Signal 2 Gain for about 400RPM. 7. Pulse the input and compare the waveform with figure 6.1. Figure 6.1 Critically damped, One Hook Overshoot, Under and Over damped waveforms Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 35: Current Mode Calibration Procedure
CCW. Switch MTR REVERSE (S1-6) from OFF to ON (or vice-versa). Turn the Loop Gain pot back to full CW. 7. Remove battery box, and repeat step 3. 8. Calibration complete. Reconnect signal wires. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 36: Sine/Resolver Mode Amplifier Calibration
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 (RV3). Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 37: Current Mode Calibration Procedure
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 0V at ABS I (J1-7). Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 38: Two/Three Phase Input Current Mode Amplifier Calibration
Phase R+ (J1-1), Phase R- (J1-2) and Phase S+ (J1-3), Phase S- (J1-4). Adjust the I LIM SET (RV4) for the desired peak current. 6. Calibration complete. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 39: Three Phase Input Current Mode Calibration Procedure
5. Connect oscilloscope to ABS I (J1-7), and the three modulated input waveforms at Phase R)(J1-1,J1-2), Phase S)(J1-3,J1-4) and Phase T)(J1-5,J1-6). Adjust I LIM SET (RV4) for desired peak current. 6. Calibration complete. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 40: Calibration Setup Record
INHIBIT(ACTIVE HI/LOW) S1-4(8105), S2-4(8205), S1-3(8305) RESET(ACTIVE HI/LOW) S1-3(8105), S2-3(8205), S1-2(8305) MTR TEMP(ACTIVE HI/LOW) S1-2(8105), S2-2(8205), S1-1(8305) +15/+5 S1-1(8105), S2-1(8205), S1-6(8305) Date data taken: Serial number S/N:______________ Model number SMA_____________________________________ Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 41: Resolver Alignment Procedure
Of the remaining two modes, the INDEX is used to generate an index output and is used for resolver alignment. Motor: S3-1 S3-2 S3-3 S3-4 2 Pole 4 Pole 6 Pole 8 Pole 10 Pole 12 Pole Zero Index Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... - Page 42 14. Rotate the resolver body slowly back and forth until the difference between both tach. out voltage readings is less than 100mV. 15. Tighten the resolver mounting screws and turn the power off. 16. Resolver alignment complete. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
-
Page 43: Chapter Seven: Maintenance, Repair And Warranty
SMA8105, SMA8205, and SMA8305 MANUAL 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 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. -
Page 44: Under Voltage Fault
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. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 45: Over Temp Fault
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 GP8600-4000 power supply sub-assembly or the ones on the baseplate. -
Page 46: Factory Repair
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. -
Page 47: Appendix A: Amplifier Drawings
SMA8105, SMA8205, and SMA8305 MANUAL Appendix A Amplifier Drawings Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 48: Sma8005 Brushless Power Board Installation Schematic (8005-1030)
APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 49: Sma8005 Brushless Power Board Assembly Drawing (8005-1031)
SMA8105, SMA8205, and SMA8305 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 50: Sma8105-1 Trapezoidal Single Amplifier Module Installation(8005-1032)
APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 51: Sma8205-1 Sine/Resolver Single Amplifier Module Installation(8005-1033)
SMA8105, SMA8205, and SMA8305 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... - Page 52 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
-
Page 53: Sma8X05-2A-2 2-Axis Installation Drawing (8005-1035)
SMA8105, SMA8205, and SMA8305 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 54: Sma8X05-4A-4 4-Axis Installation Drawing (8005-1036)
APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 55: Appendix B: Personality Module (Pre-Amp)
SMA8105, SMA8205, and SMA8305 MANUAL Appendix B Personality Module Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 56: Sma8105 Trapezoidal Mode Installation Schematic (8000-1130)
APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 57: Sma8105 Trapezoidal Mode Assembly Drawing (8000-1131)
SMA8105, SMA8205, and SMA8305 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 58: Sma8205 Sine/Resolver Mode Installation Schematic (8000-1430)
APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... - Page 59 SMA8105, SMA8205, and SMA8305 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
-
Page 60: Sma8205 Sine/Resolver Mode Assembly Drawing (8000-1431)
APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 61: Sma8305 2Ø/3Ø Current Mode Installation Schematic (8000-1330)
SMA8105, SMA8205, and SMA8305 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 62: Sma8305 2Ø/3Ø Current Mode Assembly Drawing (8000-1331)
APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 63: Appendix C: Custom Configurations
SMA8105, SMA8205, and SMA8305 MANUAL Appendix C Custom Configurations Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 64: Sma8X05-2A-2 2-Axis Installation Drawing (8005-1037)
Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 65: Sma8X05-4A-4 4-Axis Installation Drawing (8005-1038)
SMA8105, SMA8205, and SMA8305 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... - Page 66 High Bandwidth Brush Type Servo Amplifiers • Linear Brush type servo amplifiers to 2.25KW • PWM (Pulse-width-modulated) Brush type servo amplifiers to 70KW High Bandwidth Brushless Servo Amplifiers • Linear Brushless servo amplifiers to 2.25KW • PWM (Pulse-width-modulated) Brushless servo amplifiers to 65KW Permanent Magnet DC Brush Type Servo Motors •...