Glentek SMA7105 Installation and operating instructions

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OPERATION
&
SERVICE MANUAL
Model SMA7105
Model SMA7105HP
Brush Type Amplifier System

2GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Table of Contents Page
Introduction........................................................................................................................5
Chapter One: Description, Features and Specifications
1.1 Description ...........................................................................................................6
1.2 Features...............................................................................................................6-8
1.2.1 Single Amplifier Module(SMA7105-1)(SMA7105HP-1)...............................6-8
1.2.2 Multi-Axis Power Supply(GP8600-50).........................................................8
1.3 Specifications.......................................................................................................9-10
1.3.1 Single Amplifier Module (SMA7105-1)(SMA7105HP-1)..............................9
1.3.1.1 Input and Output Power........................................................................9
1.3.1.2 Signal Inputs .........................................................................................9
1.3.1.3 Digital Inputs .........................................................................................9
1.3.1.4 System..................................................................................................10
1.3.1.5 Outputs..................................................................................................10
1.3.2 Multi-Axis Power Supply(GP8600-50).........................................................10
1.3.2.1 Input and Output Power........................................................................10
1.3.3 Mechanical..................................................................................................10
Chapter Two: Theory of Operation
2.1 Introduction...........................................................................................................11
2.2 Driving DC Servo Motors......................................................................................11
2.3 Servo Loops..........................................................................................................12
2.4 Brushed Motors vs Brushless Motors...................................................................13-14
2.5 Operation of Output Switching Transistors ..........................................................14
2.6 “ H ”Type Output Bridge Configuration ...............................................................14
2.7 Pulse-Width-Modulation (PWM)...........................................................................15-16
2.8 Current-Loop Operation .......................................................................................16
2.9 Velocity-Loop Operation .......................................................................................16
2.10 Protection Circuits...............................................................................................16

SMA7105 MANUAL
3GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Page
Chapter Three: Model Numbering
3.1 Introduction...........................................................................................................17
3.2 Single Amplifier Module........................................................................................17
3.3 Multi-axis Amplifier................................................................................................18
Chapter Four: Installation
4.1 Introduction...........................................................................................................19
4.2 Mounting...............................................................................................................19
4.3 Wiring....................................................................................................................19-22
4.3.1 RFI/EMI and Wiring Technique...................................................................19
4.3.2 Wire Size and Type.....................................................................................20
4.3.3 Connector Size and Type............................................................................20-21
4.3.3.1 The Power Connector of the Single Amplifier Module.......................20
4.3.3.2 The Signal Connector........................................................................21
4.3.4 Amplifier Module Connections .................................................................21-22
4.3.4.1 The Power Connections ....................................................................21
4.3.4.2 The Signal Connections.....................................................................21-22
4.3.5 Multi-Axis Amplifier Connections.................................................................22
Chapter Five: Configuration
5.1 Introduction...........................................................................................................23
5.2 Logic Input Configuration......................................................................................23
5.2.1 +15V/+5 Logic Level Configuration.............................................................23
5.2.2 Velocity/Voltage Feedback Mode and Current Mode Configuration ...........23
5.2.3 Integrator Configuration...............................................................................23
.
Chapter Six: Start Up and Calibration
6.1 Introduction...........................................................................................................24
6.2 Initial Start Up .......................................................................................................24
6.3 Calibration of the Velocity Mode Amplifier............................................................24-26
6.4 Calibration of the Current Mode Amplifier.............................................................26-27

4GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
TABLE OF CONTENTS
Page
6.5 Calibration Setup Record......................................................................................28
Chapter Seven: Maintenance, Repair, and Warranty
7.1 Maintenance .........................................................................................................29
7.2 Amplifier Faults.....................................................................................................29-31
7.2.1 Table of Fault LED Conditions.................................................................29
7.2.2 Under Voltage Fault.................................................................................30
7.2.3 High Speed Electronic Circuit Breaker (HS/ECB) Fault...........................30
7.2.4 Low Speed Electronic Circuit Breaker (LS/ECB) Fault............................30
7.2.5 Over Temp Fault......................................................................................30
7.2.6 Over Voltage Fault...................................................................................31
7.2.7 Resetting A Fault......................................................................................31
7.3 Amplifier Failure....................................................................................................31
7.4 Factory Repair ......................................................................................................32
7.5 Warranty...............................................................................................................32
Appendix A: Amplifier Drawings
SMA7105 Power Board Assembly Drawing (7005-1044)...........................................35-36
SMA7105 Power Board Installation Schematics (7005-1042)....................................37
SMA7105-1 Installation Drawing for the Single Amplifier Module (7005-1043)...........38
SMA7105-2A-2 2 AXIS Amplifier Installation Drawing (7005-1047)..........................39
SMA7105-4A-4 4 AXIS Amplifier Installation Drawing (7005-1048)..........................40
SMA7105-2A-2 2 AXIS Amplifier Installation Drawing (7005-1045)..........................41
(With 8600-50 Power Supply)
SMA7105-4A-4 4 AXIS Amplifier Installation Drawing (7005-1046)..........................42
(With 8600-50 Power Supply)
Appendix B: Power Supply
GP8600-50 Power Supply Assembly Drawing (8600-5030).......................................44
Appendix C: European Union EMC Directive
Electromagnetic Compatibility Guidelines For Machine Design.................................46-54
CE Certification...........................................................................................................55

SMA7105 MANUAL
5GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Introduction
Glentek's brush type and brushless DC servo motors and amplifiers offer the ultimate in low
maintenance and high performance motion control. Glentek offers a full line of matched motors
and amplifiers to meet virtually every motion control application.
This manual provides all the technical information necessary to install, configure, operate,
and maintain brush type servo amplifiers, models SMA7105 and SMA7105HP. There is also an
informative theory-of-operation chapter.
We suggest that you take the time to read this manual from cover-to-cover before
attempting to work with these amplifiers for the first time. If at any time you have questions,
or have any special requirements, please feel free to call and discuss them with a Glentek
applications engineer. We are happy to provide both off-the-shelf and custom products. 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.

6GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
Chapter One: Description, Features and Specifications
1.1 Description:
This brush type servo amplifier system has been designed to offer you, our customer, a
large degree of flexibility and customization with a standard, in stock product. The amplifier
is of a modular, ‘open’ construction design, for ease of installation and service.
The amplifier system is available in the following types of configurations:
• As amplifier modules, SMA7105-1, is used where you supply the DC Bus voltage,
cooling fan(s), fusing and shunt regulator. Please see section 1.2.1 for more detailed
information.
• For multi-axis applications, the multi-axis baseplate power supply can supply DC
power, cooling fans, fusing and a shunt regulator for up to 4 axis or 20 amperes
continuous. Please see section 1.2.2 for more detailed information.
Each amplifier accepts a bipolar DC control input. The polarity of this signal determines
the direction of rotation. This signal may be used to control either the velocity (RPM) or the
current (torque) of the motor(see Servo Loops, section 2.3). The amplifier provides
Pulse-Width Modulated (PWM) power to the motor in proportion to the input signal.
Each amplifier has several ‘logic’ inputs to stop the motor in one or both directions.
These inputs are very useful for connecting to mechanical limit switches or digital equipment.
Each amplifier has several protection circuits to protect the amplifier, motor, and operator
from almost any kind of fault. Flashing LED shows what fault has occurred, and a separate
output can be used to signal other equipment.
1.2 Features:
1.2.1 Single Amplifier Module (SMA7105-1):
• Ergonomic design: Easy access to connections, adjustments, and test points.
• Wide operating 30-220VDC.
bus voltage:
• Complete isolation: Complete isolation from input to output.
• Dual signal inputs: Two single-ended or one differential. Both single-ended inputs can
be used simultaneously. All inputs have up to 15,000A/V gain, and
all inputs will accept ±13VDC.
• Dual mode operation: The amplifier may be configured for velocity (RPM) control or
current (torque) control.
CHAPTER 1: DESCRIPTION, FEATURES AND SPECIFICATIONS

SMA7105 MANUAL
7GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
• BEMF velocity mode This mode uses back EMF to deduce motor speed for feedback
with IR compensation: control. Optional IR compensation yields 3% or better velocity
(Factory Option) control without a tachometer.
• Current limit: Maximum motor current is adjustable.
• Digital limit/enable 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 +5VDC or 0 to
+15VDC range. See Logic Input Configuration, section 5.2.
• Fault input/output: Open-collector output goes low in the event of a fault. Externally
forcing the output low will inhibit the amplifier. This allows all
fault outputs in a multi-axis system to be connected together
(wire-ORed) to shut down all amplifiers should any amplifier
have a fault.
• Silent operation: Carrier frequency is 20KHz.
• Short circuit protection: Complete short circuit and ground fault protection.
• LED diagnostics: Red LED flashes to display various fault conditions and a
green LED illuminates to indicate normal operating conditions.
• Frequency response: 750 Hz minimum.(Velocity Loop)
• Frequency response: 2 KHz minimum.(Current Loop)
• External fault reset: A separate input is provided to reset the amplifier after a fault.
• High-Speed Electronic Instantly shuts down the amplifier in the event of a short across
Circuit Breaker: outputs and or ground fault condition.
• Low-Speed Electronic Shuts down the amplifier if the amplifier is operated above the
Circuit Breaker: maximum continuous current rating for 3 seconds.
• Foldback current limit: Folds back the continuous current delivered by the amplifier to
(Factory Option) 5A(standard) / 10A(high power) HP @ 80VDC nominal;
3A(standard) / 6A(high power) HP @ 170VDC nominal, if the
amplifier is operated above the maximum continuous current
rating for 2 seconds.
• Over/under voltage These circuits constantly monitor amplifier power-supply
and over temperature: voltages, and amplifier-heatsink temperature. They will shut
down the amplifier in the event of any out-of-specification
condition.
• Surface mount Constructed with surface mount components.
technology:

8GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
• Multi-axis chassis: Up to four amplifier modules may be mounted on a single
baseplate. Multi-axis baseplate include a DC power supply,
cooling fan(s) and wiring for each respective amplifier module.
1.2.2 Multi-Axis Power Supply(GP8600-50):
• Power supply for 2 to 4 axis amplifier baseplates.
• Line operated AC power operation: Fused AC input for single or three phase inputs. No
power isolation transformer is required.
• Fused DC outputs for each axis.
• Regen clamp circuit (shunt regulator) with LED indicator and 30W internal load resistor
bank bleeds off excess DC Buss voltage when decelerating a large load inertia.
• Bridge rectifier(s) and filter capacitor.
CHAPTER 1: DESCRIPTION, FEATURES AND SPECIFICATIONS

SMA7105 MANUAL
9GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
1.3 Specifications:
1.3.1 Single Amplifier Module (SMA7105-1) (SMA7105HP-1):
The amplifier module requires an external DC power supply which must include a bridge
rectifier, bus capacitor, and may require a shunt regulator. Forced air cooling is required to
meet the maximum power ratings specified below.
1.3.1.1 Input and Output Power:
1.3.1.3 Digital Inputs:
• ±Limit, Inhibit and Reset: ±50V max. Terminated by 10,000Ohms.
• Fault (as input): +40V/-5v max. Terminated by 10,000Ohms.
• 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
dip-switch.
Signal Input Voltage
VDC
(maximum)
Impedance
(minimum)
Ohms
Velocity Gain
Amp./Volt Current Gain Amp./Volt
Differential ±13 10,000 15,000 0-5
Single-ended ±35 10,000 15,000 0-5
Tachometer input ±45 10,000 7,000
INPUT POWER
NOMINAL
BUS VOLTAGE
(B+)
OUTPUT POWER
(CURRENT)
STANDARD HIGH POWER (HP)
R.M.S. PEAK R.M.S. PEAK
80VDC 5A 10A 10A 20A
170VDC 3A 6A 6A 12A
1.3.1.2 Signal Inputs: