Glentek SMA6520 SERIES Installation and operating instructions

OPERATION
&
SERVICE MANUAL
Model SMA6520 SERIES
Linear Servo Amplifiers
MANUAL#: 6520-5040-000
REVISION: (5)
DATE: 06 OCT 2011

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
TABLE OF CONTENTS
Introduction Page 1
Features Page 2
Technical Specifications Page 3
Model Numbers Page 4
Startup Page 5
APPENDIX
Drawing, SMA6520-50HS-11-00x, Sinusoidal Module Page 7
Drawing. SMA6520-50HS-12-00x, Hall/Trap Module Page 8
Drawing, SMA6520-50HF-11-00x, Sinusoidal Module w/Fan Page 9
Drawing, SMA6520-50HF-12-00x, Hall/Trap Module w/Fan Page 10
Drawing, SMA6520-2A-2, 2 Axis Baseplate Page 11
Drawing, Preamplifier, 2Ø Sinusoidal Current Mode Page 12
Schematic, Preamplifier, 2Ø Sinusoidal Current Mode Page 13
Drawing, Preamplifier, Hall/Trapezoidal, Current Mode Page 14
Schematic, Preamplifier, Hall/Trapezoidal, Current Mode Page 15
Schematic, SMA6520 Module, 2Ø Sinusoidal Current Mode Page 16

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
Introduction
Glentek’s SMA6520 series linear servo amplifiers provide the optimum solution for applications
which require high current loop bandwidth, low radiated electrical noise and zero crossover distor-
tion. These amplifiers incorporate our latest generation ISO-BIAS current sense technology which
provide one of the lowest drift linear amplifiers on the market today. These amplifiers are con-
structed 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 which are ideal for the SMA6520 series amplifiers include low inductance/
resistance brushless and brush motors (linear or rotary), high resolution linear brushless motor
stages and voice coil motors.
The SMA6520 series is highly configurable and can operate in the following modes:
1. 2-phase sinusoidal commutation (-11 plug-in board) of three-phase brushless servo mo-
tors. In this mode, the amplifier accepts two +/- 10V analog inputs as a current command
reference for two of the motor phases. The third phase is derived within the amplifier from
the two reference phases. This amplifier does not use any feedback devices and is used
with controllers that provide the commutation.
2. Trapezoidal commutation (-12 plug-in board) of three-phase brushless servo motors. In this
mode, the amplifier accepts a +/- 10V analog input as a current command reference and
utilizes the Hall Sensors which are mounted on the motor for commutation of the motor in
current (torque) mode.
3. The driving of voice coils or DC brush servo motors (-11 plug-in board) in current (torque)
mode. In this mode, the amplifier accepts a +/- 10V analog input as a current command
reference.
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES 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 The 2-Phase Sinusoidal servo amplifier can drive 3-phase brushless
motors, voice coils or DC brush servo motors in current (torque) mode
The Trapezoidal servo amplifier can drive 3-phase brushless motors in
current (torque) mode. In addition, the Trapezoidal servo amplifier can
close the velocity loop via feedback of a DC tachometer.
• Wide operating voltage Operating voltages range from either +/-20 to +/-75 VDC for
standard heatsink Module/large heatsink module w/fan and cover ver-
sions and +/-17 to +/-53 VAC for the 2-Axis chassis version.
• Industry std. mounting Available in a standard heatsink Module, large heatsink module w/fan
and cover and a 2-Axis chassis version. Optional custom mounting
configurations are available to meet virtually any requirement.
• Two basic versions Available in Trapezoidal and 2-Phase/3-Phase Current Mode commu-
tated versions.
• Fault protection Short from output to output, short from output to ground, amplifier
RMS over current, amplifier under/over voltage and amplifier over tem-
perature.
• Motor over temp. An input is provided for a motor over temperature switch and will shut
down the drive and display a fault.
• Status indicator 7-segment LED display indicates amplifier status and diagnostics.
• Dedicated inputs +/- limits, enable, fault, motor over temperature and reset for Trapezoi-
dal version. Enable, fault, motor over temperature and reset for 2-
phase sinusoidal version.
• External fault reset An input is provided to reset the amplifier in the event of a fault.
• Manual reset A push button reset is available to reset a fault.
• Current limit Peak motor current is adjustable.
• CE compliant All servo amplifiers are CE marked.
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
Technical Specifications
Output Power
•
••
• 400 Watts continuous, 2000 Watts peak (heatsink module version @25°C)
• 500 Watts continuous, 2000 Watts peak (heatsink module w/fan and cover version @25°C)
•5 amps continuous, 25 amps peak
Note 1: Current trip time and peak current is adjustable.
Note 2: Output power ratings based on Glentek or customer supplied airflow.
Input Connections
• Bipolar supply voltage: +/-20 to +/-55VDC (Standard voltage)
•Bipolar supply voltage: +/-25 to +/-75VDC (High voltage)
•Auxiliary bias supply voltage: +/-15VDC regulated, +/- 400 mA
•Command A & B analog signals: +/-20V maximum (differential)
•Fan power for large heatsink module with cover: 24VDC
•Fan power for 2-axis chassis: 120 VAC, single phase
•Manual reset Pushbutton switch
•Reset: Pulled up, Active low
•Enable: Pulled up, Active low
•+/- Limits: Pulled Up, Active low for Trapezoidal version and configurable for active low or
active high for Encoder-based version
•Hall sensors: Pulled Up, Active low for Trapezoidal version
•Motor over temperature: Pulled up, Active High (normally closed switch)
Output Connections
• Motor phases A, B and C
•Fault out: Open collector, Pulled Up (5V), Active low (TTL to 24V compatible)
Bandwidth
• 10 kHz maximum and varies with motor inductance
Status Indicator
• 7-segment LED display indicated amplifier status and diagnostics
Mechanical
• Standard heatsink module version (Length: 8.0”, Width: 2.5”, Height: 7.5”)
• Large heatsink module w/fan & cover version (Length: 10.17”, Width: 5.31”, Height: 7.95”)
• 2-axis chassis version (Length: 12.75”, Width: 10.25”, Height: 8.0”)
Environmental
• Operating temperature 0 to 65C
• Storage temperature -40 to 80C
•Humidity 5 – 95% relative (non-condensing)
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
Note: Voice coil and DC brush modes are also available upon request.
MODEL NUMBERS
Glentek's SMA6520 series linear servo amplifiers are offered in two module styles; the standard
50HS and the 50HF (which has a cover and a fan). Both modules accept either of the available
plug in boards (2Φsinusoidal commutation or Hall/Trapezoidal commutation).
A baseplate design with 2 slots available for modules has a bridge rectifier and filter capacitors for
the required bipolar DC voltage for the modules along with the +/-15VDC logic supply needed for
the bias voltages.
MODULES: First 4 Columns
MULTIAXIS BASEPLATES: All Columns
MODEL NUMBERING DESCRIPTION
SMA6520- _ _ _ _- _ _- _ _ _- _ _- _ Linear Amplifier Series,
Module & Baseplate Configuration
50HS Standard Heatsink Module
50HF Large Heatsink Module, w/ Fan &
Cover
11 2 Phase Sinusoidal Current Mode Plug
In Board (Personality Board)
12
Hall Sensor/Trapezoidal Commutation,
Current Mode Plug In Board
(Personality Board)
24
Encoder Based Sinusoidal Commuta-
tion, Current or Velocity Mode Plug In
Board (Personality Board)
003 Standard Voltage Configuration Power
Board, +/-55VDC
006 High Voltage Configuration Power
Board, +/-75VDC
2A 0 2 Axis Baseplate w/ Fans and Power
Supplies, 0 = no modules installed
2A 1 2 Axis Baseplate w/ Fans and Power
Supplies, 1 = 1 module installed
2A 2 2 Axis Baseplate w/ Fans and Power
Supplies, 2 = 2 modules installed
1 Module or Module w/ Fan & cover
4

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
5
STARTUP
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. When the wiring is
completed and verified, the initial pot adjustments can be made. Turn on the bias supply (+/-
15Vdc), it is not necessary to connect the load or turn on the main bipolar supply yet.
2 Phase Sinusoidal Current Mode pot adjustments (Refer to 6520-11 schematic in the appendix):
Current Limit (RV1): The current limit pot sets the peak output current the amplifier can de
liver to the load. The range is +/-3A to +/-25A. Set RV1 by adjusting the pot to the desired
value by measuring the voltage at TP2, 0 volts is the minimum and 5 volts is the maximum
current.
Input Signal Gain: There are two gain pots, one for each phase, the adjustment procedure
is the same for both. The pots (RV2 & RV3) scale your input signals to the desired cur-
rents you wish to command. Apply a known input signal and adjust the pot to the desired
current using a scale factor of 4.5A/V at the test point connected to the pot wiper. Repeat
for the second phase. Avoid setting the gain such that the input signals command currents
above the current limit. This will prevent your current command signal from being clipped.
Hall Sensor/Trapezoidal Output Current Mode pot adjustments (Schematic 6520-12):
Current Limit (RV2): The current limit pot sets the peak output current the amplifier can de
liver to the load. The range is +/-0A to +/-25A. In order to set the current limit, temporarily
remove the microshunt at J4. Then adjust RV2 until the measured voltage at TP2 equals
the desired peak current (use a scale factor of 4.5A/V). Restore the J4 microshunt to its
original (current mode) position.
Balance (RV1): The balance pot can be used to deal with offsets in the amplifier and offset
in the input signal. A good initial setting is to set the wiper to the midpoint. After the load is
up and running final adjustment can be made if needed.
Input Signal Gain (RV5): The signal input gain pot scales your input signal to the current
you want to command. Apply a known input signal and adjust RV5 to the desired voltage at
TP2 using a scale factor of 4.5A/V. Avoid setting the gain such that the input signal com-
mands current above the current limit. This will prevent your current command signal from
being clipped.
These pot adjustments may be all the adjustment needed. Continue with the startup process by
connecting the load and applying the main power to the amplifier.

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
APPENDIX
6

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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SMA6520 SERIES MANUAL
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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA6520 SERIES MANUAL
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SMA6520 SERIES MANUAL
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