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Glentek SMA7130 Operation & Service Manual

Brush type amplifier system
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OPERATION
&
SERVICE MANUAL
Model SMA7130
Model SMA71075
Model SMA71100
Brush Type Amplifier System

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Summary of Contents for Glentek SMA7130

  • Page 1 OPERATION & SERVICE MANUAL Model SMA7130 Model SMA71075 Model SMA71100 Brush Type Amplifier System...

  • Page 2: Table Of Contents

    Chapter One: Description, Features and Specifications 1.1 Description ......................... 6 1.2 Features ........................7 1.2.1 Stand Alone One Axis Amplifier (SMA7130, SMA71075 and SMA71100) ... 7 1.3 Specifications ......................8 1.3.1 Stand Alone Amplifier (SMA7130, SMA71075 and SMA71100) ......8 1.3.1.1 Input and Output Power ................
  • Page 3 4.3.2 Wire Size and Type ................... 17 4.3.3 Connector Size and Type .................. 17 4.3.3.1 The Power and Motor Connector of the SMA7130 ........17 4.3.3.2 The Power and Motor Connector of the SMA71075 and SMA71100 ..17 4.3.3.3 The Signal Connectors ................17 4.3.4 Amplifier Module Connections ................
  • Page 4 Optional - Encoder Feedback Installation Drawing (8000-2402-003) .........41 Optional - Encoder Feedback Installation Schematic (8000-2435-003) ......42 Appendix C: European Union EMC Directives Electromagnetic Compatibility Guidelines for Machine Design ...........44-50 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 5: 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, money, and to provide you with a superior product.

  • Page 6: Chapter One: Description, Features And Specifications

    The amplifier system is available in the following types of configurations: • As a stand alone one axis amplifier, SMA7130-1A-1, SMA71075-1A-1 and SMA71100-1A-1, which contains a DC power supply, cooling fan, soft start circuitry, fusing and a shunt regulator. Please see section 1.2.2 for more detailed information.
  • Page 7 Regen clamp circuit (shunt regulator) with LED indicator and internal load resistor bank bleeds off excess DC Buss voltage when decelerating a large load inertia (95 watts for the SMA7130 and 375 watts for the SMA71075 and SMA71100). The regen clamp circuit is set to turn on at 225VDC.

  • Page 8: Specifications

    L x W x H Weight (inches) (lbs) SMA7130-1A-1 14.50 x 4.25 x 8.81 11.00 SMA71075-1A-1 17.63 x 5.75 x 12.40 28.00 SMA71100-1A-1 17.63 x 5.75 x 12.40 28.00 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 9: Chapter Two: Theory Of Operation

    However, a brushless motor requires that the voltage be switched from winding to winding externally; the voltage that drives a brushless motor is a constantly changing 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 10: 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 11: 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 12: 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 13: 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 14: Current-Loop Operation

    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 15: Chapter Three: Model Numbering

    Chapter Three: Model Numbering 3.1 Introduction: This chapter contains the model numbering system for the SMA7130, SMA71075 and SMA71100, stand alone one axis amplifiers. 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 quickly and as accurate as possible.

  • Page 16: Chapter Four: Installation

    (NEC) requirements as well as suppressing RFI/EMI. Additional RFI suppression may be obtained by placing inductors in each motor lead near the amplifier. Consult a Glentek applications engineer for inductor recommendations. Glentek stocks a complete line of inductors for virtually every application.

  • Page 17: Wiring

    SMA7130, SMA71075 and SMA71100 MANUAL CHAPTER 4: INSTALLATION 4.3.2 Wire Size and Type: IMPORTANT: To ensure safe operation, Glentek strongly recommends that all wiring conform to all local and national codes. Recommended Wire Size and Type: • Motor Wires: 10AWG, shielded - SMA7130.

  • Page 18: Amplifier Module Connections

    MTR A Motor + No connection No connection AC 3 AC power input - 3Ø AC 2 AC power input - 1Ø AC 1 AC power input - 1Ø Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 19: The Signal Connections (J1)

    Negative phase B signal input. J4-6 Phase Z signal input. J4-7 Negative phase Z signal input. J4-8 Common for Encoder. J4-9 Common for Encoder. J4-10 Common for Encoder. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 20: Chapter Five: Configuration

    Each amplifier has several configuration options. This chapter describes these options and how to implement them. If desired, Glentek will be happy to pre-configure your amplifiers. NOTE: Each amplifier module and multi-axis amplifier is configured and shipped according to the model number (instructions to construct a model number is in chapter three) when the order is placed.

  • Page 21: Encoder Reverse (Encoder Input Option Only)

    200nS Omit Jumper Jumper 400nS Jumper Omit Jumper 800nS Omit Omit Jumper 1,600nS Jumper Jumper Omit 3,200nS Omit Jumper Omit 6,400nS Jumper Omit Omit 12,800nS Omit Omit Omit Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 22: 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 23 11. If the motor is rotating in the wrong direction for a given input polarity, remove power and reverse both the motor leads and the tach leads. 12. Remove the battery box, and repeat step 3. 13. Calibration complete. Reconnect signal wires. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 24: Calibration Of The Current Mode Amplifier

    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 25: Calibration Setup Record

    Note: Tach voltage is measured at J1-5. Common for all measurements is at J1-12. Date data taken: Serial number S/N: _________________________________ Model number: SMA71_________________________ 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 26: 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 is lit or flashing, review the sections which follow on the fault in question for information and possible causes.

  • Page 27: High Speed Electronic Circuit Breaker (Hs/Ecb) Fault

    7.2.2 High Speed Electronic Circuit Breaker (HS/ECB) Fault: When the peak output of the amplifier exceeds 85A for the SMA7130 and 210A for the SMA71075 and SMA71100 for 10 microseconds, the Run LED will turn off, the FAULT LED will flash four times and a Fault Output is generated, and the amplifier is inhibited.

  • Page 28: 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 24-48hr. repair service in the unlikely event that your system is down and you do not have a replacement amplifier module. 7.5 Warranty: Any product, or part thereof, manufactured by Glentek, Inc., described in this manual, which, under normal...
  • Page 29 SMA7130, SMA71075 and SMA71100 MANUAL Appendix A Amplifier Drawings Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 30 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 31 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 32 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 33 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 34 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 35 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 36 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 37 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 38 SMA7130, SMA71075 and SMA71100 MANUAL Appendix B Personality Module Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 39 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX B: PERSONALITY MODULE Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 40 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX B: PERSONALITY MODULE Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 41 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX B: PERSONALITY MODULE Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 42 SMA7130, SMA71075 and SMA71100 MANUAL APPENDIX B: PERSONALITY MODULE Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 43 SMA7130, SMA71075 and SMA71100 MANUAL Appendix C European Union EMC Directives Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 44 EMI coupled to it. Figure 1 - EMI Source-Victim Model Conducted EMI SOURCE VICTIM Radiated VICTIM Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 45 An effective filter achieves this by using capacitors and inductors to mismatch the source impedance (AC line) and the load impedance (drive) at high frequencies. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 46 Therefore, all lines must be filtered to be effective. The situation is similar to a leaky boat. All the holes must be plugged to prevent sinking Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 47 (daisy chain) and parallel (separate) connections. A single point, parallel connected ground system is recommended. CIRCUIT CIRCUIT CIRCUIT CIRCUIT CIRCUIT CIRCUIT Figure 3-Single Point Ground Types Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 48 250 VAC capacitor should be used at one of the connections to block 50/60 Hz current while passing HF currents. Use of a properly shielded motor cable is essential to meet European EMC requirements. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 49 European Union. Ultimately, it is the responsibility of the machine builder to ensure that the machine meets the appropriate requirements as installed. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 50 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. 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 51 Permanent Magnet DC Brushless Servo Motors • Continuous Torques to 1100 in. lb. • Peak Torques to 2200 in. lb. MANUAL#: 7130-1040-000 REVISION: (A) DATE: 1 February 2002 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:

Sma71100Sma71075

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