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Glentek GA369 Operation & Service Manual

Pulse width modulated servo amplifier
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OPERATION
&
SERVICE MANUAL
Model GA369
Pulse Width Modulated
Servo Amplifier

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Summary of Contents for Glentek GA369

  • Page 1 OPERATION & SERVICE MANUAL Model GA369 Pulse Width Modulated Servo Amplifier...

  • Page 2: Table Of Contents

    5.4 AMPLIFIER MODULE CONNECTIONS AND FUNCTIONS ......14 5.4.1 D.C. BUSS ...................... 14 5.4.2 MOTOR ......................15 5.4.3 SIGNAL INPUT ....................15 5.4.4 TACHOMETER INPUT ..................15 5.4.5 CURRENT SENSE ..................15 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 3 INSTALLATION DIAGRAM (GA369-6A-6) (369-1211) ..........33 INSTALLATION DIAGRAM (GA369-8A-8) (369-1209) ..........34 APPENDIX C: PERSONALITY PREAMP SCHEMATIC PERSONALITY PREAMP (369-1200) ..........36 ASSEMBLY PERSONALITY PREAMP (369-1202) ........... 37 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 4: Introduction To The Ga369 Manual

    (PWM) servo amplifiers. It provides all of the information that is required for installation, alignment and maintenance of the GA369. We suggest that you take the time to read this manual from cover to cover before trying to work with a GA369 amplifier.

  • Page 5: Chapter Two: Description And Specifications

    VELOCITY MODE OR CURRENT MODE OPTIONS: The GA369 are most often used to close a critically damped velocity loop using a DC tachometer for velocity feedback. However, this high gain input summing amplifier can be bypassed providing an input directly to the current loop amplifier.

  • Page 6: Example Model Numbering

    For this example each of the three amplifier modules would be labeled GA369-1 or GA369-1 with serial number and CMA designator at bottom of label. The 4 axes chassis would be labeled GA369-4A-3 with serial number and CMA designator at bottom of label.

  • Page 7: Signal Inputs

    2.4.6 TYPICAL FACTORY SETTINGS Sig. and Aux. Gain 5V(Sig.)/7V(Tach.) Tach. Gain Loop Gain CCW (OFF) Comp. CW (Mm. Bandwidth) 6A @ 0.5 sec. LS/ECB HS/ECB 29A ~ 10 micro sec. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 8: Chapter Three: Personality Preamp Card

    CCW to command zero current to the motor. Once the system is correctly phased this potentiometer is set fully CW for all further system adjustments. CURRENT MODE: (Refer to Appendix C, drawings 369-1200 and 369-1202) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 9: Input And Output Signals

    Maintenance and Repair for a more detailed fault tracing procedure. However, if the system does work with the new amplifier module, check the malfunctioning unit for loose connections and retest the suspected unit in the system. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 10: Chapter Four: Theory Of Operation

    ON and OFF as shown in figure 4.3. Note that since the pulse widths are equal, the net DC current in the motor is equal to zero. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 11: Current Loop Operation

    After realizing how the PWM amplifier output works, it becomes apparent that some inductance must be added to the motor circuit to prevent excessively high AC current ripple and heating in the servomotor. Consult a Glentek applica- tions engineer for recommended inductance.

  • Page 12: Velocity Loop Operation

    Velocity Command and the feedback signal from the DC tachometer is called the Velocity Feedback. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 13: Chapter Five: Installation Procedure

    Please refer to Appendix B, GA369 installation diagrams. These installation diagrams show the necessary external connections to ensure proper amplifier operation. Glentek recommends that your wiring be in accordance with all national and local codes that are applicable to your Wire system.

  • Page 14: Motor

    The inductor is considered to be a separate part from the amplifier package. Glentek can advise on the inductor specifications, and most styles and sizes are in stock at Glentek. IT IS IMPERATIVE THAT YOU DO NOT USE GROUNDED TEST EQUIPMENT ON...

  • Page 15: Chapter Six: Start Up And Adjustment Procedure

    You often hear the term “DC Box the velocity loop servo” being used by people working on servo systems. (This Signal Box may be purchased from Glentek Inc., Part Number BB700) Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 16: Connecting Amplifier To Digital Position Loop

    Start out with Loop Gain potentiometer, R18, fully CCW and activate the Digital Position Loop. Slowly turn loop Gain potentiometer CW. If servo runs away, immediately adjust Loop Gain fully CCW and turn power OFF. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 17 Be sure when all signal adjustments are made that the balance is rechecked and adjusted for zero rotation for zero signal input. 3. It should be noted here that the GA369 are designed to operate with many different systems and if after reading this manual you have further questions, do not hesitate to call a Glentek applications engineer.

  • Page 18: Chapter Seven: Maintenance, Repair And Warranty

    It is Glentek’s recommendation that a failed amplifier module be replaced in the field and returned to Glentek for failure analysis and repair. However, Appendixes B and C contain complete system schematics that, in case of extreme emergency, should permit a skilled electronic technician to trouble shoot the circuit boards to levels lower than those recommended as replaceable.

  • Page 19: Factory Repair

    Under no circumstances shall Glentek, Inc. or any of our affiliates have any liability whatsoever for claims or damages arising out of the loss of use of any product or part sold to you. Nor shall we have any liability to yourself or anyone...
  • Page 20 GA369 MANUAL APPENDIX A: FAULT TRACING CHARTS APPENDIX A FAULT TRACING CHARTS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 21 GA369 MANUAL APPENDIX A: FAULT TRACING CHARTS Fault Chart 1 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 22 GA369 MANUAL APPENDIX A: FAULT TRACING CHARTS Fault Chart 2 Fault Chart 3 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 23: Fault Chart 4 Motor Does Not Develop Maximum Output Speed (No Load Applied) In Either Direction

    GA369 MANUAL APPENDIX A: FAULT TRACING CHARTS Fault Chart 4 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 24 GA369 MANUAL APPENDIX A: FAULT TRACING CHARTS Fault Chart 5 Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 25: Engineering Notes For Fault Tracing Charts

    A visual check of the capacitor seal port could show a blown pressure seal caused by a failed, overheated capacitor. Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 26: Appendix B: Amplifier Drawings

    GA369 MANUAL APPENDIX A: AMPLIFIER DRAWINGS APPENDIX B AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 27 GA369 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 28: Assembly Control Board (Ga369-1) (369-1002)

    GA369 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 29: Installation Diagram (Ga369-1) (369-1008)

    GA369 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 30: Installation Diagram (Ga369-2A-2) (369-1205)

    GA369 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 31: Installation Diagram (Ga369-4A-4) (369-1207)

    GA369 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 32: Installation Diagram (Ga369-6A-6) (369-1211)

    GA369 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 33: Installation Diagram (Ga369-8A-8) (369-1209)

    GA369 MANUAL APPENDIX A: AMPLIFIER DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 34 GA369 MANUAL APPENDIX C: PERSONALITY MODULE DRAWINGS APPENDIX C PERSONALITY MODULE DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 35: Appendix C: Personality Preamp Schematic Personality Preamp (369-1200)

    GA369 MANUAL APPENDIX C: PERSONALITY MODULE DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...

  • Page 36: Assembly Personality Preamp (369-1202)

    GA369 MANUAL APPENDIX C: PERSONALITY MODULE DRAWINGS Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 37 GA369 MANUAL NOTES Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026...
  • Page 38 Permanent Magnet DC Brushless Servo Motors • Continuous Torques to 1100 in. lb. • Peak Torques to 2200 in. lb. MANUAL#: 0369-1040-000 REVISION: (A) DATE: 29 July 2002 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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