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Glentek SMA7105 Operation & Service Manual

Brush type amplifier system
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Over 100 years cumulative experience
24 hour rush turnaround / technical support service
Established in 1993
The leading independent repairer of servo motors and drives in North America.
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For 24/7 repair services :
USA: 1 (888) 932 - 9183
Canada: 1 (905) 829 -2505
Emergency After hours: 1 (416) 624 0386
Servicing USA and Canada
Visit us on the web:
www.servo-repair.com
www.servorepair.ca
www.ferrocontrol.com
www.sandvikrepair.com
www.accuelectric.com

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  • Page 1 Over 100 years cumulative experience 24 hour rush turnaround / technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America. Visit us on the web: www.servo-repair.com www.servorepair.ca www.ferrocontrol.com www.sandvikrepair.com www.accuelectric.com Scroll down to view your document! For 24/7 repair services : USA: 1 (888) 932 - 9183 Canada: 1 (905) 829 -2505...
  • Page 2 OPERATION & SERVICE MANUAL Model SMA7105 Model SMA7105HP Brush Type Amplifier System...

  • Page 3: Table Of Contents

    2.6 “ H ” Type Output Bridge Configuration ...............14 2.7 Pulse-Width-Modulation (PWM)................15-16 2.8 Current-Loop Operation ..................16 2.9 Velocity-Loop Operation ..................16 2.10 Protection Circuits....................16 GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 4 Chapter Six: Start Up and Calibration 6.1 Introduction ......................24 6.2 Initial Start Up .......................24 6.3 Calibration of the Velocity Mode Amplifier ............24-26 6.4 Calibration of the Current Mode Amplifier.............26-27 GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 5 Appendix B: Power Supply GP8600-50 Power Supply Assembly Drawing (8600-5030) ........44 Appendix C: European Union EMC Directive Electromagnetic Compatibility Guidelines For Machine Design .........46-54 CE Certification ......................55 GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 6: Introduction

    Thank you for selecting Glentek for your motion control needs. It is our goal to save you time, money, and to provide you with a superior product.

  • Page 7: Chapter One: Description, Features And Specifications

    ‘open’ construction design, for ease of installation and service. The amplifier system is available in the following types of configurations: • As amplifier modules, SMA7105-1, is used where you supply the DC Bus voltage, cooling fan(s), fusing and shunt regulator. Please see section 1.2.1 for more detailed information.
  • Page 8 They will shut down the amplifier in the event of any out-of-specification condition. • Surface mount Constructed with surface mount components. technology: GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 9: Multi-Axis Power Supply(Gp8600-50)

    Regen clamp circuit (shunt regulator) with LED indicator and 30W internal load resistor bank bleeds off excess DC Buss voltage when decelerating a large load inertia. • Bridge rectifier(s) and filter capacitor. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 10: Single Amplifier Module(Sma7105-1)(Sma7105Hp-1)

    +40V/-5v max. Terminated by 10,000Ohms. • 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 dip-switch. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 11: System

    4.75 x 1.38 x 4.50 1.00 SMA7105-2A-2 & HP (2-axis Amplifier 6.75 x 6.25 x 6.50 6.00 System) SMA7105-4A-4 & HP (4-axis Amplifier 11.00 x 6.25 x 6.50 System) 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 discusses these waveforms. Figure 2.1 Pulse Width Modulation Waveform 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 2.3) operate in much the same way, except there are now three current loops, one for each phase of the motor. Figure 2.3 Velocity mode servo loop for a brushless motor GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 14: Brushed Motors Vs Brushless Motors

    Figure 2.4 Brush type and Brushless type Motors GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 15: Operation Of Output Switching Transistors

    D remain in the OFF state. To provide motor current in the other direction, B and D are turned ON, while A and C remain in the OFF state. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 16: Pulse-Width-Modulation (Pwm)

    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’. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 17: Current-Loop Operation

    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 SMA7105 series single amplifier module and multi-axis amplifier system. 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 accurate as possible.

  • Page 19: Multi-Axis Amplifier

    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 20: Chapter Four: Installation

    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., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 21: Wire Size And Type

    PHOENIX CONTACT, COMBICON Headers and Plugs with 7.62mm pitch (HEADER PART# GMSTBA 2,5/4-G-7,62), (PLUG PART# GMVSTBR 2,5/4-ST-7,62): - header with side panels, plug-in direction parallel to PCB. - 4 positions. - color: green. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 22: The Signal Connector

    LIMIT + J1-7 Inhibits the motor in the + direction. LIMIT - J1-8 Inhibits the motor in the - direction. INHIBIT J1-9 Inhibits the motor in both direction. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 23: Multi-Axis Amplifier Connections

    Provides -15V for external use. (25mA max.) 4.3.6 Multi-Axis Amplifier Connections: Main Power: Connect 21-157VAC line input, single or three phase at TB101. Fan Power: Connect 110-130VAC, 50/60Hz for fans to TB101-1 and TB101-2. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 24: Chapter Five: Configuration

    PID loop. The lower break point may be required with motors having high inductance armatures. This switch should remain off unless instructed to turn on by a Glentek engineer. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 25: Chapter Six: Start Up And Calibration

    The SMA7105 and SMA7105HP series amplifiers can be configured to run in velocity mode(6.3) and current mode(6.4). NOTE: The SMA7105 and SMA7105HP amplifiers can also be pre-configured to run in the BEMF mode. Please consult a Glentek applications engineer for detailed information on BEMF mode.
  • Page 26 Then proceed to step 9. 8. If the desired waveform cannot be obtained by adjusting the Compensation pot, back off the Tach Gain pot (CCW) a few turns and repeat step 7. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 27: Calibration Of The Current Mode Amplifier

    Current Limit pot full CW, increase either the input signal, Aux Gain (RV9) for single-ended input or Differential Gain (RV1) for differential input. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 28 5. If the motor is rotating in the wrong direction for a given input polarity, remove the power and reverse the motor leads. 6. Remove the battery box, and repeat step 2. 7. Calibration complete. Reconnect signal wires. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 29: Calibration Setup Record

    Note: Tach voltage is measured at J1-5. Common for all measurements is at J1-11. Date data taken: Serial number S/N: _________________________________ Model number: SMA7105_________________________ Note any changes to components or any special features in the space below: GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 30: Chapter Seven: Maintenance, Repair, And Warranty

    SMA7105 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 the fault LED flashes, review the sections which follow on the fault in question for information and possible causes.

  • Page 31: Under Voltage Fault

    Excessive rise in cooling air temperature due to cabinet ports being blocked or excessive hot air being ingested. • Extended operational duty cycle due to mechanical overload of motor or defective motor. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 32: Over Voltage Fault

    Decelerating too large of an 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-Bus. If this fault occurs, you may need a Regen Clamp. Consult Glentek. 7.2.7 Resetting A Fault: The fault latch may be reset by activating the Reset input J1-12 or by removing power and allowing the filter capacitor(s) to discharge.

  • Page 33: 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 24-48 hr. repair service in the unlikely event that your system is down and you do not have a replacement amplifier module.
  • Page 34 SMA7105 MANUAL GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 35: Appendix A: Amplifier Drawings

    APPENDIX A: AMPLIFIER DRAWINGS Appendix A Amplifier Drawings GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 36: Sma7105 Power Board Assembly Drawing (7005-1044)

    SMA7105 MANUAL GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 37 APPENDIX A: AMPLIFIER DRAWINGS GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 38: Sma7105 Power Board Installation Schematics (7005-1042)

    SMA7105 MANUAL GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 39: Sma7105-1 Installation Drawing For The Single Amplifier Module (7005-1043)

    APPENDIX A: AMPLIFIER DRAWINGS GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 40: Sma7105-2A-2 2 Axis Amplifier Installation Drawing (7005-1047)

    SMA7105 MANUAL GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 41: Sma7105-4A-4 4 Axis Amplifier Installation Drawing (7005-1048)

    APPENDIX A: AMPLIFIER DRAWINGS GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 42: Sma7105-2A-2 2 Axis Amplifier Installation Drawing (7005-1045)

    SMA7105 MANUAL GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 43: Sma7105-4A-4 4 Axis Amplifier Installation Drawing (7005-1046)

    APPENDIX A: AMPLIFIER DRAWINGS GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 44: Appendix B: Power Supply

    SMA7105 MANUAL Appendix B Power Supply GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 45: Gp8600-50 Power Supply Assembly Drawing (8600-5030)

    APPENDIX B: POWER SUPPLY GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 46: Appendix C: European Union Emc Directive

    SMA7105 MANUAL Appendix C European Union EMC Directive GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 47: Electromagnetic Compatibility Guidelines For Machine Design

    EMI sources. The mechanisms for the coupling of energy between the source and victim are conduction and radiation. Victim equipment can be any electromagnetic device that is adversely affected by the EMI coupled to it. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 48 Hardening the victim equipment may not be possible, or practical. The final and often the most realistic solution is to reduce the coupling mechanism between the source and victim. Filtering, shielding and grounding can achieve this. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 49 Selection of the proper filter is only the first step in reducing conducted emissions. Correct filter installation is crucial to achieving both EMIL attenuation and to ensure safety. All of the following guidelines should be met for effective GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 50 AC power enters the enclosure. “AC Line Filter Installation” shows a good installation and a poor installation. Figure 2- AC Line Filter Installation GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 51 In a sense, ground systems are the sewer systems of electronics and as such are sometimes neglected. The primary objective of a high frequency ground system is to provide a GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 52 For this reason the enclosure must provide the necessary degree of protection. An IP rating or Nema rating (which is similar to IP) specifies the degree of protection that an enclosure provides. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 53 Use of a properly shielded motor cable is essential to meet European EMC requirements. The following suggestions are recommended for all installations. 1. Motor cables must have a continuous shield and be terminated at both ends. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 54 3. DC coils should be suppressed with a “free-wheeling” diode connected across the coil. 4. AC coils should be suppressed with RC filters (a 200 Ohm 1/2 Watt resistor GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 55 AC line filters for 3-phase applications 1A-25A input current, 120-250VAC use: Corcom 25FCD10 or equivalent. 25A-36A input current, 120-250VAC use: Corcom 36FCD10 or equivalent. 36A-50A input current, 120-250VAC use: Corcom 50FCD10 or equivalent. GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 56: Ce Certification

    SMA7105 MANUAL GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 57 NOTES GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 58 SMA7105 MANUAL NOTES GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 59 Permanent Magnet DC Brushless Servo Motors • Continuous Torques to 1100 in. lb. • Peak Torques to 2200 in. lb. Manual #: 7005-1040-000 (B) Date: 22 November 1999 208 Standard Street, El Segundo, California 90245, USA. Telephone: (310) 322-3026 Fax: (310) 322-7709 www.glentek.com...

This manual is also suitable for:

Sma7105hpSma7105-1Sma7105hp-1Sma7105-2a-2Sma7105hp-2a-2Sma7105-4a-4 ... Show all

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