Glentek SMA5005 Installation and operating instructions

OPERATION
&
SERVICE MANUAL
SMA5005 & SMA5015
H Bridge Linear Servo Amplifiers
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA5005 & SMA5015 MANUAL
TABLE OF CONTENTS
Introduction Page 1
Features Page 2
Application Note Page 3
Technical Specifications Page 5
Model Numbering Page 6
Startup and Calibration Page 7
A. Initial Startup Page 7
B. Calibration of the Velocity Mode Amplifier (SMA5005 Series) Page 8
C. Calibration of the Current Mode Amplifier (SMA5005 Series) Page 10
D. Calibration Setup Record (SMA5005 Series) Page 11
E. Calibration of the Velocity Mode Amplifier (SMA5015 Series) Page 12
F. Calibration of the Current Mode Amplifier (SMA5015 Series) Page 14
G. Calibration Setup Record (SMA5015 Series) Page 15
APPENDIX
Drawing, SMA5015, Installation Page 18
Drawing. SMA5015, Electrical Functional Block Schematic Page 19
Drawing, SMA5015, Schematic, Installation, Power Supply Page 20
Drawing, SMA5015, Printed Circuit Board Assembly, Amplifier Page 21
Drawing, SMA5015, Printed Circuit Board Assembly, Power Supply Page 22
Drawing, SMA5005, Installation Page 23
Drawing, SMA5005, Schematic, Installation Page 24
Drawing, SMA5005, Printed Circuit Board Assembly, Amplifier Page 25
Drawing, SMA5005-2A-2, 2-Axis Baseplate Assembly Page 26
Drawing, SMA5005-2A-4, 4-Axis Baseplate Assembly Page 27
Drawing, T657TB, Power Transformer Page 28
Drawing, T693TB, Power Transformer Page 29

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA5005 & SMA5015 MANUAL
INTRODUCTION
The Glentek SMA5005 and SMA5015 H bridge linear servo amplifiers provide the optimum solu-
tion for applications which require high current loop bandwidth, low radiated electrical noise and
low crossover distortion. The SMA5015 amplifier incorporates our latest generation ISO-BIAS cur-
rent sense technology which provide one of the lowest drift linear amplifiers on the market today.
These amplifiers are constructed using surface mount technology and incorporate the latest in
heat transfer technology which make them one of the most powerful amplifiers for a given form
factor.
Typical applications are brushed DC permanent magnet motors and voice coil motors.
The SMA5005 & SMA5015 are configurable and can operate in the following modes:
1. Velocity mode for motors with tachometer feedback.
2. Current mode for torque mode operation
3. Voltage mode (SMA5015 only, special order)
A basic velocity mode servo loop for a brush type motor is shown in figure A. An external
controller commands a given velocity (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.
The velocity error is used to command motor current in the inner servo-loop. The current loop
summing amplifier compares the command current (velocity error) with the actual current in the
motor and produces an error voltage proportional to the difference between the actual and
commanded current.
Finally, the current error signal is used to produce an output to drive the motor.
The velocity loop may be bypassed, and an external current command fed directly to the current
loop. In this case, the external command signal controls the torque of the motor, rather than the
velocity. This is known as current-mode operation.
1
Figure A - Velocity mode servo loop for a brush type motor

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA5005 & SMA5015 MANUAL
FEATURES
• Ergonomic Design Easy access to connections, adjustments and test points.
• SMT construction Provides ultra compact size, cost competitive package and high reli-
ability.
• Bandwidth All servo amplifiers have a nominal 10 kHz current loop bandwidth
which varies with the motor inductance.
• Linear output stage Provides high bandwidth, low noise and zero crossover distortion.
• Multimode operation Velocity mode (tachometer feedback), Current mode (torque) and volt-
age mode (SMA5015 only)
• Operating Voltage Operating input voltage range 17-0-17 to 39-0-39 VAC for standard
SMA5015 stand alone (higher voltages available) 24-75 VDC for stan-
dard SMA5005 module.
• Basic versions Velocity and current modes (SMA5015 is field configurable).
• Fault protection Short from output to output, short from output to ground, amplifier
RMS over current, amplifier under/over voltage (SMA5015 only) and
amplifier over temperature.
• Status indicator 7-segment LED display indicates amplifier status on the SMA5015 and
LEDs indicate status on the SMA5005.
• Dedicated inputs command signals, +/- limits, inhibit, reset, and fault.
• Dedicated outputs fault out and motor current monitor
• Manual reset A push button reset is available to reset a fault (SMA5015 only).
• Current limit Peak motor current is adjustable.
• Transformer T657TB and T693TB are available for the SMA5015; see drawings in
Appendix for more information.
• External fault reset An input is provided to reset the amplifier in the event of a fault.
• CE compliant All servo amplifiers are CE marked.
2

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA5005 & SMA5015 MANUAL
APPLICATION NOTE
POWER DISSIPATION CONSIDERATIONS AND CALCULATIONS WHEN USING
LINEAR DC SERVO AMPLIFIERS:
When selecting a linear amplifier, the following ratings of the amplifier should be known in order to
properly size the amplifier to your system requirements:
1– The total wattage, peak current, and voltage rating of all the semiconductors installed on the
heat sink of the output power stage of the amplifier.
Output transistor ratings for the SMA5005 series are:
Voltage: 250 Volts
Peak current: 60 A; Continuous current: 30 A (Normally shipped with 12-20A limit)
Total wattage @25 deg C.:1200 Watts
Output transistor ratings for the SMA5015 series are:
Voltage: 200 Volts
Peak current: 240 A; Continuous current: 60 A (Normally shipped with 20-50A limit)
Total wattage @25 deg C.:4480 Watts
The SMA5005 series amplifier is a module style amplifier requiring an external unregulated single
polarity DC power supply. Glentek offers various unregulated power supplies for the SMA5005
series amplifiers.
The SMA5005 series amplifier is also available in multi-axis configurations. That is, there are two
basic baseplate assemblies namely 2-axis and 4-axis baseplate assemblies that have built-in AC
to DC power supplies (un-regulated) and cooling fans. The 2-axis baseplate assembly contains
one AC to DC power supply, one fan, and up to two SMA5005 amplifier modules. The 4-axis
baseplate assembly contains one AC to DC power supply, two fan, and up to four SMA5005 am-
plifier modules. For multi-axis applications, it is always recommended to use three phases power
transformers for minimizing ripple voltage during high current demand scenarios where all axis
motors are running at full load simultaneously. Glentek offers various isolated three phases
power transformers.
The SMA5015 series amplifier is a stand-alone style amplifier, meaning that the unregulated dual
polarity power supply is mounted within the amplifier enclosure. Glentek offers 1.4KVA and
2.0KVA center tapped power transformers for the SMA5015 series amplifiers.
2– Typical continuous internal rating of the amplifiers running at normal room conditions is:
SMA5005 series; 250 Watts continuous
SMA5015 series; 300 Watts continuous
For most applications, the above heat sinking is adequate. However, if you have a usage mode
where the heat sink temperature becomes excessive, please contact Glentek and we can furnish
a larger heat sink with greater air flow for your application.
3

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA5005 & SMA5015 MANUAL
4
Use the following relationships to calculate amplifier dissipation :
1) Pd = Im x Vb (watts)
Where: Pd = Total watts delivered from bus
Im = Motor current
Vb = Bus voltage
2) Pm = Im x Vm (watts)
Where: Pm = Total power (watts) dissipated in motor
Vm = Motor voltage
3) Pa =Im x Vb - Im x Vm
Where: Pa = Total watts dissipated at amplifier
From the above relationship, it can be surmised that the worst case dissipation occurs when the
amplifier has to deliver a high continuous current at a low motor speed, i.e., less motor BEMF and
more current. For some applications, a power resistor can be added in series with the motor thus
shifting some of the power dissipation from the amplifier to the resistor.

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA5005 & SMA5015 MANUAL
5
TECHNICAL SPECIFICATIONS
Output
•
••
• SMA5005: 15A peak, 5A continuous, (forced air cooling required)
Note: Large motor and Small motor versions have different velocity loop compensation.
• SMA5015: 25A peak, 10A continuous, (integral fan cooling)
Input
• SMA5005: 24-75VDC
•SMA5015: 17-0-17VAC to 39-0-39VAC (+/-24 to +/-55VDC Bipolar Input)
•Integral forced air fan cooling (multi-axis SMA5005 and SMA5015 only)
•Analog command signals: differential & single ended, adjustable gain
•Manual reset Pushbutton switch (SMA5015 only)
•Reset: SMA5005: pull up/pull down, active high only;
SMA5015: pull up/pull down, active high, active low
•Inhibit: Same as Reset
•+/- Limits: Same as Reset
Output Connections
• Motor : MTR + & MTR-
•Fault out: SMA5005: Optically isolated can sink up to 50 mA, active high only
SMA5015: Open collector, Pulled Up (+5V), active high or active low
Bandwidth
• 10 kHz maximum and varies with motor inductance
Status Indicator
• SMA5005: Green Run LED, Red Inhibit LED, Red Fault LED
• SMA5015: 7-segment LED display indicates amplifier status and diagnostics
Mechanical
• SMA5005 module: Height: 7.13”, Width: 2.23”, Depth: 5.69”
• SMA5005 2-Axis: Height: 10.75”, Width: 9.75”, Depth: 6.93”
• SMA5005 4-Axis: Height: 10.75”, Width: 14.90”, Depth: 6.93”
• SMA5015 stand-alone: Height: 14.50”, Width: 4.25”, Depth: 9.00”
Environmental
• Operating temperature 0 to 55°C
• Storage temperature -40 to 80°C
•Humidity 5 – 95% relative (non-condensing)

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA5005 & SMA5015 MANUAL
6
MODEL NUMBERING
The information below should be used to order your amplifier pre-configured for your application.
You may wish to have a Glentek application engineer confirm your configuration because field
configuration options are limited.
Single Module
Velocity Loop Compensation
S= Small Motor (less than 3” in diameter)
L= Large Motor (3” or greater in diameter)
Amplifier Model Number
SMA5005—x—bbb—1
Amplifier Configuration Code
Important Notes:
SMA5005 is not field config-
urable except signal input
SMA5015 logic inputs are
hard wired, either pulled up
or pulled down at the factory
±Limit 0=Active Low, 1= High
±Limit 0=Pulled Up, 1= Down
Inhibit 0=Active Low, 1= High
Inhibit 0=Pulled Up, 1= Down
Reset 0=Active Low, 1= High
Reset 0=Pulled Up, 1= Down
0
0 0
0000=0 1000=8
0001=1 1001=9
0010=2 1010=A
0011=3 1011=B
0100=4 1100=C
0101=5 1101=D
0110=6 1110=E
0111=7 1111=F
4 Bit Binary-to-Hexadecimal
Conversion
Differential or Single-ended input:
0 = Single-ended
1 = Differential.
Velocity or Current Mode:
0=Velocity; 1=Current.
Input Logic Pull Up Voltage Select
+15V / +5V
0 = +15V
1 = +5V (SMA5015 only)
Amplifier Configuration Code
See configuration algorithm below
Amplifier Model Number Stand Alone
SMA5015—bbb—1A-1
Multi-Axis: 1 to 4 Axes
Amplifier Model Number
SMA5005—x—bbb—eA-g
2 or 4 Axis Chassis
Velocity Loop Compensation
S= Small Motor (less than 3” in diameter)
L= Large Motor (3” or greater in diameter)
Amplifier Configuration Code
See configuration algorithm below
(Only Active High is available, Type B or C)
Amplifier Configuration Code
See configuration algorithm below
(Only Active High is available, Type B or C)
Type Input is:
A Internally Pulled Up
C Internally Pulled Up
D Internally Pulled Down
B Internally Pulled Down
Inhibit, Reset, ±Limit Configuration
Input State:
Active When Low
Active When High
Active When Low
Active When High
Binary Code
00
01
10
11
Logic Input Configuration for Inhibit
Type A Requires grounding of input to disable the amplifier.
Type B Requires a positive voltage at input to disable the amplifier.
Type C Requires grounding of input to enable the amplifier.
Type D Requires a positive voltage at input to enable the amplifier.

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA5005 & SMA5015 MANUAL
7
START UP AND CALIBRATION
This section contains the procedure required for initial start up and amplifier calibration. The
SMA5005 and SMA5105 series amplifiers can be configured to run in velocity mode (x.x) and
current mode (y.y).
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.
Refer to the technical specifications page and the drawings in the appendix for the information
needed to supply the correct power and to wire the model you are starting up. An isolation
transformer is needed for the multi-axis SMA5005 and SMA5015. An isolated power supply
(unregulated is OK) providing the necessary voltage is required for the SMA5005 module.
Glentek can provide appropriate transformers and power supplies. Consult a Glentek
applications engineer or sales person for assistance.
A. Initial Start Up:
When applying power to start up your amplifier system for the first time, we recommend you
follow this procedure. If you have already gone through this procedure you can skip to the
appropriate calibration procedure.
1. Check for any loose or damaged components.
2. Check that all connections are tight.
3. Be sure that the motor mechanism is clear of obstructions. If the mechanism has limited
motion, e.g: a lead-screw, set the mechanism to mid-position.
4. Disconnect the signal and auxiliary inputs.
5. Be sure the Loop-Gain pot(s) are fully CCW (RV6 for SMA5005, and RV4 for SMA5015).
This will prevent the motor from running away in velocity mode when power is applied.
6. Check for the correct AC voltage before connecting to SMA5005 multi-axis or SMA5015
amplifiers. The DC Bus (amplifier supply-voltage) will be 1.4 times greater than the AC value.
If the voltage is correct, remove power and connect AC source to amplifier inputs. For
SMA5005 module amplifier, check for the correct DC voltage before connecting to the
amplifier power input.
7. Work on only one amplifier axis at a time for SMA5005 multi-axis amplifiers.