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Glentek SMA8115 Operation & Service Manual

Brushless amplifier system
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OPERATION
&
SERVICE MANUAL
Model SMA8115
Model SMA8215
Model SMA8315
Brushless Amplifier System

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Summary of Contents for Glentek SMA8115

  • Page 1 OPERATION & SERVICE MANUAL Model SMA8115 Model SMA8215 Model SMA8315 Brushless Amplifier System...

  • Page 3: Table Of Contents

    4.4.1 Buss and Motor Connections - J2 ............22 4.4.2 Signal Connections for the Trap. and Sine/Resolver Mode - J1 ..... 22 4.4.3 Signal Connections for the 2/3 Phase Current Mode Amplifier ....23 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 4 7.2.7 Over Voltage Fault ................. 39 7.2.8 Resetting A Fault ................... 39 7.3 A ..................... 39 MPLIFIER AILURE 7.4 F ....................40 ACTORY EPAIR 7.5 W ......................40 ARRANTY Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 5 SMA8315 2Ø/3Ø C (8000-1331) ......61 URRENT SSEMBLY RAWING APPENDIX D: EUROPEAN UNION EMC DIRECTIVES ......63 LECTROMAGNETIC OMPATIBILITY UIDLINES FOR ACHINE ESIGN CE C ...................... 68 ERTIFICATION 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 and money, and to provide you with a superior product.

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

    Following is a brief description of these three personality modules and their mode(s) of operation: Trapezoidal Mode (SMA8115/SMA8115HP) - 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.

  • Page 8: Features

    (i.e.15A for standard 120VAC, 10A for standard (LS/ECB): 240VAC; 20A for High Power 120VAC and 15A for High Power 240VAC) for a pre-determined period (i.e. 3 seconds). Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 9: Multi-Axis Power Supply (Gp8600-70)

    Amplifier Velocity Gain Current Gain Signal Input Voltage Impedance Model Amp./Volt Amp./Volt (VDC) Ù 8115/8215 Differential 10,000 15,000(min.) 8115/8215 Single-ended ±13 10,000 15,000(min.) 8315 2/3phase input ±13 10,000 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 10: Digital Inputs

    7.125 x 1.38 x 4.53 1.28 SMA8X15-2A-2 (2 Axis Amplifier System) 9.00 x 10.50 x 7.70 9.36 SMA8X15-4A-4 (4 Axis Amplifier System) 13.00 x 10.50 x 7.70 15.12 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 11: Chapter Two: Theory Of Operation

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

  • Page 12: Brushed Motors Vs Brushless Motors

    (and thus the magnet orientation). The position data is fed to the amplifier which in turn commutates the motor electronically by Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 13: 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 SMA8115 trapezoidal mode amplifier produces a trapezoidal output.

  • Page 14: 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 SMA8115 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 15: Commutation Usinga Resolver

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

  • Page 16: Chapter Three: Model Numbering

    Chapter Three: Model Numbering 3.1 Introduction: This chapter contains the model numbering system for the SMA8115, SMA8215 and SMA8315 single module 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 17: 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=70 - 240 Vdc 1=240 - 350 Vdc 2=Special Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 18: Two/Three Phase Input Current Mode

    5.2. 0100=4 1100=C 0101=5 1101=D DC Buss Voltage 0110=6 1110=E 0 = 70 - 240 Vdc 0111=7 1111=F 1 = 240 - 350 Vdc 2 = Special Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 19: 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 20: Chapter Four: Installation

    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.

  • Page 21: Connector Size And Type

    Crimp Terminals for the above mating connector: molex Crimp Terminals (P/N: 08-55-0102): • 15 microinch select gold plated. • with vertical plug-in direction to the conductor axis. • 4 positions. • Color: green. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 22: Single Amplifier Module Connections(Sma8X15-1)

    Motor over temperature switch input. DIG. TACH(SMA8115) Digital tach output in trapezoidal mode or J1-15 N/C(SMA8215) Auxillary in sine/resolver mode. 4.4.2 Signal Connections for the Trapezoidal & Sine/Resolver Mode Amplifier - J1: Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 23: Signal Connections For The 2/3 Phase Current Mode Amplifier

    HALL 2 J4-8 Hall sensor 2. Check motor data or 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 24: Signal Connections For The Sine/Resolver Mode Pre-Amp

    AC - MAIN TB1-3 AC main power input (1Ø). CHASSIS GND TB1-4 Chassis ground. AC - FAN TB1-5 AC fan power input. AC - FAN TB1-6 AC fan power input. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 25: Chapter Five: Configuration

    MTR TEMP standard not available not available not available FAULT 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 26: Standard Configuration

    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.

  • Page 27: Sine/Resolver Mode Amplifier 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 28: Encoder Output Resolution Configuration

    The Tach. Volts (V/1000RPM) are given for the MAX. RPM of the BIT resolution. The higher the bits, the higher the tach voltage. You want the highest bits (14, if possible) as long as the max. RPM is ok for your application. Consult a Glentek applications engineer should you have any questions.

  • Page 29: 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 phase input S1-7 3 phase input Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 30: 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.
  • Page 31 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. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 32: Current Mode Calibration Procedure

    The amplifier, in this configuration, receives an analog, bi-polar input command which is proportional to the required motor velocity. Turn the Current Limit (RV7) to mid position and the Loop Gain (RV8) full CCW. Apply main power and fan power. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 33: Current Mode Calibration Procedure

    Connect the oscilloscope to ABS I (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 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 34: Two /Three Phase Input Current Mode Amplifier Calibration

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

  • Page 35: Calibration Setup Record

    Model number SMA_______________________________________________ 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.

  • Page 36: Resolver Alignment Procedure

    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 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 37 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 Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 38: Chapter Seven: Maintenance, Repair And Warranty

    SMA8115, SMA8215, and SMA8315 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 39: High Speed Electronic Circuit Breaker (Hs/Ecb) 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 in the GP8600-70 power supply sub-assembly.

  • Page 40: Factory Repair

    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 41 Appendix A Amplifier Drawings Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 42 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 43 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 44 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 45 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 46 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 47 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 48 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 49 Appendix B Multi Axis Power Supply Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 50 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 51 Appendix C Personality Module Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 52 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 53 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 54 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 55 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 56 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 57 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 58 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 59 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 60 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 61 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 62 SMA8115, SMA8215, and SMA8315 MANUAL Appendix C European Union EMC Directives Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 63 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 64 The best method of achieving this is to mount the filter where the AC power enters the enclosure. “AC Line Filter Installation” shows a good installation and a poor installation. POOR GOOD DRIVE DRIVE FILTER FILTER Figure 2- AC Line Filter Installation Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 65 These connections should be as short as possible and straps should be used when possible. The motor ground con- ductor must return to the ground terminal on the drive, not the GBB. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 66 6. The encoder mounted on the brushless servomotor should be connected to the amplifier with a cable using multiple twisted wire pairs and an overall cable shield. Encoder cables are offered in various lengths that have correct terminations. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 67 120-250VAC 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. 50A-80A input current, 120-250VAC use: Corcom 80FCD10 or equivalent. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 68 SMA8115, SMA8215, and SMA8315 MANUAL Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 70 Permanent Magnet DC Brushless Servo Motors • Continuous Torques to 1100 in. lb. • Peak Torques to 2200 in. lb. MANUAL#: 8015-1040-000 REVISION: (H) DATE: 10 May 2003 208 Standard Street, El Segundo, California 90245, USA. Telephone: (310)322-3026; Fax: (310)322-7709 www.glentek.com e-mail sales@glentek.com...

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