Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
TABLE OF CONTENTS
INTRODUCTION ..................................................................................................5
CHAPTER ONE: DESCRIPTION, FEATURES AND SPECIFICATIONS
1.1 Description...........................................................................................................6
1.2 Features...............................................................................................................6
1.2.1 Single Amplifier Module (SMA7115-1)................................................................6
1.2.2 Stand Alone One Axis Amplifier (SMA7115-1A-1)...............................................6
1.2.3 Multi-Axis Power Supply (GP8600-70)................................................................7
1.3 Specifications.......................................................................................................7
1.3.1 Single Amplifier Module (SMA7115-1)................................................................7
1.3.1.1 Input and Output Power ..........................................................................8
1.3.1.2 Signal Inputs............................................................................................8
1.3.1.3 Digital Inputs............................................................................................8
1.3.1.4 System.....................................................................................................8
1.3.1.5 Outputs....................................................................................................8
1.3.2 Stand Alone One Axis Amplifier (SMA7115-1A-1)...................................................8
1.3.3 Multi-Axis Power Supply (GP8600-70) ...................................................................9
1.3.3.1 Input and Output Power................................................................................9
1.3.4 Mechanical ............................................................................................................9
CHAPTER TWO: THEORY OF OPERATION
2.1 Introduction........................................................................................................10
2.2 Driving DC Servo Motors ...................................................................................10
2.3 Servo Loops.......................................................................................................10
2.4 Brushed Motors vs Brushless Motors.................................................................11
2.5 Operation of Output Switching Transistors.........................................................12
2.6 “ H ” Type Output Bridge Configuration..............................................................12
2.7 Pulse-Width-Modulation (PWM).........................................................................13
2.8 Current-Loop Operation.....................................................................................13
2.9 Velocity-Loop Operation.....................................................................................14
2.10 Protection Circuits..............................................................................................14
CHAPTER THREE: MODEL NUMBERING
3.1 Introduction........................................................................................................15
3.2 Single Amplifier Module .....................................................................................15
3.3 Stand Alone One Axis Amplifier.........................................................................16
3.4 Multi-axis Amplifier.............................................................................................16
CHAPTER FOUR: INSTALLATION
4.1 Introduction........................................................................................................17
4.2 Mounting............................................................................................................17
4.3 Wiring ................................................................................................................17
4.3.1 RFI/EMI and Wiring Technique.........................................................................17
4.3.2 Wire Size and Type..........................................................................................17
4.3.3 Connector Size and Type.................................................................................17
4.3.3.1 The Power Connector of the Single Amplifier Module.............................17
4.3.3.2 The Signal Connector.............................................................................18
4.3.3.3 The Power & Motor Connectors of the Stand Alone Amplifier .................18
4.3.4 Amplifier Module Connections..........................................................................18
4.3.4.1 The Power Connections.........................................................................18
4.3.4.2 The Signal Connections.........................................................................19
4.3.5 Stand Alone One Axis Amplifier Connections ...................................................19
4.3.6 Multi-Axis Amplifier Connections ......................................................................19
