Related Manuals for Glentek SMA8130
Summary of Contents for Glentek SMA8130
- Page 1 OPERATION & SERVICE MANUAL Model SMA8130 Model SMA8230 Model SMA8330 Brushless Amplifier System...
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Page 2: Table Of Contents
2.8 Tachometer (Velocity Mode) Feedback Options ......... 17 2.9 Commutation Using A 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........... 27-29 5.3.1 +15V/+5V Logic Level Configuration..........27 5.3.2 Standard Configuration ..............28 5.3.3 Integrator Configuration..............28 5.3.4 Hall-Sensor Configuration ..............28 5.3.5 Motor Reverse Configuration ............. 28 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 ....38 6.6 Calibration Setup Record................39 6.7 Resolver Alignment Procedure ..............40-41 Chapter Seven: Maintenance, Repair and Warranty 7.1 Maintenance ....................42 7.2 Amplifier Faults .................... 42-45 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
- Page 5 SMA8230 Sine/Resolver Mode Installation Schematic (8000-1430) ....55-56 SMA8230 Sine/Resolver Mode Assembly Drawing (8000-1431) ......57 SMA8330 2Ø/3Ø Current Mode Installation Schematic (8000-1330) ....58 SMA8330 2Ø/3Ø Current Mode Assembly Drawing (8000-1331) ......59 Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
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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 (SMA8130) - 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
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 These circuits constantly monitor the amplifier power-supply and over temperature: voltages, and the motor and amplifier-heatsink temperatures. They will shut down the amplifier in the event of any out-of- specification condition. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
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Page 10: Specifications
Fault (as input): • 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
Standard TTL levels with 20mA sink or source capability. (8230 only) 1.3.2 Mechanical: Model L x W x H Weight (inches) (lbs) SMA8X30-1A-1(Amplifier Module) 4.25 x 8.81 x 14.50 15.00 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 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 2.2b) operate in much the same way, except there are now three current loops, one for each phase of the motor. Figure 2.2b Velocity-mode sevo 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 2.3 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 SMA8130 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 SMA8130 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 SMA8130, SMA8230 and SMA8330 amplifier module 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 accurate 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=120 - 170 Vdc 1=170 - 340 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 = 120 - 170 Vdc 0100=4 1100=C 1 = 170 - 340 Vdc 0101=5 1101=D 2 = Special 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: Chapter Four: Installation
Glentek stocks a complete line of inductors for virtually every application. IMPORTANT: The signal wiring to hall-sensors for the SMA8130, resolver for SMA8230 (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 22: Wire Size And Type
• Screw Size/Spacing: #8-32 on .435 centers. • Terminal Style: PC (Printed Circuit Pin) • Terminal Orientation: V (Vertical) • Number of Screw Terminals: 08 (8 screw positions) Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 23: 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 24: Amplifier Module Connections(Sma8X30-1A-1)
RESET IN J1-13 Resets fault latch. MTR TEMP J1-14 Motor over temperature switch input. DIG. TACH(SMA8130) J1-15 Digital tach output in trapezoidal mode or N/C(SMA8230) Auxillary in sine/resolver mode. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 25: 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 26: Signal Connections For The Sine/Resolver Mode Pre-Amp
Negative phase Z signal output. J4-7 Common ground. Resolver Input (J5): J5-1 Sine signal input. J5-2 Sine/Cosine return. J5-3 Cosine signal input. J5-4 Excitation return. J5-5 Excitation signal input. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 27: Chapter Five: Configuration
S1-2 - OFF not available FAULT standard not available not available not available 5.3.1 +15V/+5V Logic Level Configuration (Default: S1-1=OFF): • +15V: S1-1 = OFF. • +5V: S1-1 = ON. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 28: Standard Configuration
5.3.6 Simulated Tach - Disable Configuration(Default: S2-3=ON): The simulated tachometer disable is turned ON when an external tachometer is used. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 29: 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 30: 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 31: 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 32: 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 33: Velocity And Simulated Velocity Mode Calibration Procedure
Signal 2 Gain pot 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 34: 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 the battery box, and repeat step 3. 8. Calibration complete. Reconnect the signal wires. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 35: Sine/Resolver Mode Amplifier Calibration
Current Limit pot (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 pot (RV3). Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 36: Current Mode Calibration Procedure
2. Apply the main power and fan power. Slowly turn the Loop Gain pot (RV8) full CW. Motor should be stopped or turning slowly. 3. Set Balance (RV5) for zero motor rotation. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 37: 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 pot (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 38: Three Phase Input Current Mode Calibration Procedure
Phase R ± (J1-1,J1-2), Phase S ± (J1-3,J1-4) and Phase T ± (J1-5,J1-6). Adjust the I LIM SET pot (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: Calibration Setup Record
INHIBIT(ACTIVE HI/LOW) S1-4(8130), S2-4(8230), S1-3(8330) RESET(ACTIVE HI/LOW) S1-3(8130), S2-3(8230), S1-2(8330) MTR TEMP(ACTIVE HI/LOW) S1-2(8130), S2-2(8230), S1-1(8330) +15/+5 S1-1(8130), S2-1(8230), S1-6(8330) 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 40: 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 41 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...
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Page 42: Chapter Seven: Maintenance, Repair And Warranty
CHAPTER 7: MAINTENANCE, REPAIR, and WARRANTY Chapter Seven: Maintenance, Repair, and Warranty 7.1 Maintenance: Glentek amplifiers do not require any scheduled maintenance, although it is a good idea to occasionally check for dust build-up or other contamination. 7.2 Amplifier Faults: If an amplifier should cease to operate and the fault LED flashes, review the sections which follow on the fault in question for information and possible causes. -
Page 43: 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 44: Over Temp Fault
If an amplifier module should fail, simply unplug the pre-amp and plug it into a replacement amplifier. Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 45: 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 46: Appendix A: Amplifier Drawings
SMA8130, SMA8230, and SMA8330 APPENDIX A: AMPLIFIER DRAWINGS Appendix A Amplifier Drawings Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 47: Sma8030 Brushless Power Board Installation Schematic (8030-1037)
SMA8130, SMA8230, and SMA8330 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 48: Sma8030 Brushless Power Board Assembly Drawing (8030-1032)
SMA8130, SMA8230, and SMA8330 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 49: Sma8130 Trapezoidal Amplifier Module Installation (8030-1033)
SMA8130, SMA8230, and SMA8330 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 50: Sma8230 Sine/Resolver Amplifier Module Installation (8030-1034)
SMA8130, SMA8230, and SMA8330 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 51: Sma8330 2Ø/3Ø Amplifier Module Installation (8030-1035)
SMA8130, SMA8230, and SMA8330 APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 52: Appendix B: Personality Module (Pre-Amp)
SMA8130, SMA8230, and SMA8330 APPENDIX B: PERSONALITY MODULE Appendix B Personality Module Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 53: Sma8130 Trapezoidal Mode Installation Schematic (8000-1130)
SMA8130, SMA8230, and SMA8330 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 54: Sma8130 Trapezoidal Mode Assembly Drawing (8000-1131)
SMA8130, SMA8230, and SMA8330 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 55: Sma8230 Sine/Resolver Mode Installation Schematic (8000-1430)
SMA8130, SMA8230, and SMA8330 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... - Page 56 SMA8130, SMA8230, and SMA8330 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
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Page 57: Sma8230 Sine/Resolver Mode Assembly Drawing (8000-1431)
SMA8130, SMA8230, and SMA8330 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 58: Sma8330 2Ø/3Ø Current Mode Installation Schematic (8000-1330)
SMA8130, SMA8230, and SMA8330 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... -
Page 59: Sma8330 2Ø/3Ø Current Mode Assembly Drawing (8000-1331)
SMA8130, SMA8230, and SMA8330 APPENDIX B: PERSONALITY MODULE Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026... - Page 60 Permanent Magnet DC Brushless Servo Motors • Continuous Torques to 1100 in. lb. • Peak Torques to 2200 in. lb. MANUAL #: 8030-1040 (A) DATE: 11 May 2000 208 Standard Street, El Segundo, California 90245, USA. Telephone: (310) 322-3026 Fax: (310)322-7709 www.glentek.com...