Glentek SMA7130 Installation and operating instructions

OPERATION
&
SERVICE MANUAL
Model SMA7130
Model SMA71075
Model SMA71100
Brush Type Amplifier System

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
Table of Contents
Page
Introduction.............................................................................................................................5
Chapter One: Description, Features and Specifications
1.1 Description.................................................................................................................6
1.2 Features.....................................................................................................................7
1.2.1 Stand Alone One Axis Amplifier (SMA7130, SMA71075 and SMA71100)...........7
1.3 Specifications.............................................................................................................8
1.3.1 Stand Alone Amplifier (SMA7130, SMA71075 and SMA71100)..........................8
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
1.3.3.6Mechanical..................................................................................................8
Chapter Two: Theory of Operation
2.1 Introduction................................................................................................................9
2.2 Driving DC Servo Motors............................................................................................9
2.3 Servo Loops...............................................................................................................10
2.4 Brushed Motors vs Brushless Motors .........................................................................11-12
2.5 Operation of Output Switching Transistors..................................................................12
2.6 “ H ” Type Output Bridge Configuration.......................................................................12
2.7 Pulse-Width-Modulation (PWM)..................................................................................13-14
2.8 Current-Loop Operation..............................................................................................14
2.9 Velocity-Loop Operation.............................................................................................14
2.10 Protection Circuits.....................................................................................................14
Chapter Three: Model Numbering
3.1 Introduction.................................................................................................................15
3.2 Stand Alone Amplifier .................................................................................................15
Chapter Four: Installation
4.1 Introduction.................................................................................................................16
4.2 Mounting ....................................................................................................................16

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
4.3 Wiring.........................................................................................................................16-18
4.3.1 RFI/EMI and Wiring Technique..........................................................................16
4.3.2 Wire Size and Type...........................................................................................17
4.3.3 Connector Size and Type ..................................................................................17
4.3.3.1 The Power and Motor Connector of the SMA7130....................................17
4.3.3.2 The Power and Motor Connector of the SMA71075 and SMA71100 .........17
4.3.3.3 The Signal Connectors.............................................................................17
4.3.4 Amplifier Module Connections ...........................................................................18
4.3.4.1 The Power Connections for the SMA7130(TB1)........................................18
4.3.4.2The Power Connections for the SMA71075 and SMA71100......................18
4.3.4.3The Signal Connections (J1).....................................................................19
4.3.4.4The Encoder Input Connections (Factory Option) (J4)...............................19
Chapter Five: Configuration
5.1 Introduction.................................................................................................................20
5.2 Logic Input Configuration............................................................................................20
5.3Amplifier Configuration................................................................................................20
5.3.1 +15V/+5 Logic Level Configuration ....................................................................20
5.3.2 Velocity Mode and Current Mode Configuration.................................................20
5.3.3 Tach Lead.........................................................................................................20
5.3.4Tach Reverse (Encoder input option only) .........................................................20
5.3.5Encoder Reverse (Encoder input option only) ....................................................21
5.3.6Motor Reverse...................................................................................................21
5.3.7Coarse Balance.................................................................................................21
5.3.8Encoder Derived Tachometer Optimization (Encoder input option only) .............21
5.3.9Tach Pulse Width Table (Encoder input option only)..........................................21
Chapter Six: Start Up and Calibration
6.1 Introduction.................................................................................................................22
6.2 Initial Start Up.............................................................................................................22
6.3 Calibration of the Velocity Mode Amplifier...................................................................22-23
6.4 Calibration of the Current Mode Amplifier....................................................................24
6.5 Calibration Setup Record............................................................................................25
Chapter Seven: Maintenance, Repair, and Warranty
7.1 Maintenance...............................................................................................................26
7.2 Amplifier Faults...........................................................................................................26-27
7.2.1 Table of Fault LED Conditions........................................................................26
7.2.2High Speed Electronic Circuit Breaker (HS/ECB) Fault...................................27
7.2.3Low Speed Electronic Circuit Breaker (LS/ECB) Fault.....................................27
7.2.4Amplifier Over Temp Fault..............................................................................27
7.2.5Over Voltage Fault .........................................................................................27
7.2.6Resetting A Fault............................................................................................27
7.3 Amplifier Failure..........................................................................................................27
7.4 Factory Repair............................................................................................................28
7.5 Warranty.....................................................................................................................28

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
Appendix A: Amplifier Drawings
SMA7130 Installation Drawings (7030-1030)....................................................................30-31
SMA7130 Assembly Drawings (7030-1002)......................................................................32-33
SMA71075 Installation Drawing (7075-3030)....................................................................34
SMA71100 Installation Drawing (7075-3035)....................................................................35
SMA71075 & SMA71100 Installation Schematic (7075-3031)...........................................36
SMA71075 & SMA71100 Assembly Drawing (7075-3002)................................................37
Appendix B: Personality Module (Pre-Amp)
Standard -Tachometer Feedback Installation Drawing (8000-2402-002)...........................39
Standard -Tachometer Feedback Installation Schematic (8000-2435-002).......................40
Optional -Encoder Feedback Installation Drawing (8000-2402-003) .................................41
Optional -Encoder Feedback Installation Schematic (8000-2435-003)..............................42
Appendix C: European Union EMC Directives
Electromagnetic Compatibility Guidelines for Machine Design...........................................44-50

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
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 our
TORQUE-SWITCH™ series, brush type servo amplifiers, model SMA7130, SMA71075 and SMA71100. 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.

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
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
for ease of installation and service.
The amplifier system is available in the following types of configurations:
•As a stand alone one axis amplifier, SMA7130-1A-1, SMA71075-1A-1 and SMA71100-1A-1, which contains
a DC power supply, cooling fan, soft start circuitry, fusing and a shunt regulator. 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. LED’s show what fault has occurred, and a separate output can be used to signal other equipment.
1.2 Features:
1.2.1 Stand-Alone One Axis Amplifier (SMA7130, SMA71075 and SMA71100):
•Ergonomic design: Easy access to connections, adjustments, and test points.
•Complete isolation: Complete isolation from input to output.
•Dual signal inputs: One single-ended and one differential. Both single-ended inputs may be use
simultaneously. All inputs have up to 15,000A/V gain (velocity mode), and inputs
will accept up to ±13VDC for the differential input and ±50VDC for single-ended.
•Dual mode operation: The amplifier may be field configured for velocity (RPM) control or current torque)
control.
•Current limit: Maximum peak motor current is adjustable.
•Digital limit/enable Three separate logic inputs can stop the motor in either or both directions.
Inputs: 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 for the SMA7130 and 9KHz for the SMA71075 and
SMA71100.
•Short circuit protection: Complete short circuit and ground fault protection.
•LED diagnostics: A Red LED flashes to display various fault conditions and a green LED illuminates
to indicate normal operating conditions.
•Tach or encoder A tachometer (standard) or encoder (optional) velocity feedback personality board.
feedback:
CHAPTER 1: DESCRIPTION, FEATURES AND SPECIFICATIONS

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
•Frequency response 750 Hz minimum.
(Velocity Loop):
•Frequency response 2 KHz minimum.
(Current Loop):
•External Aseparate input is provided to reset the amplifier after a fault.
fault reset:
•High-Speed Electronic Instantly shuts down the amplifier in the event of a short across
Circuit Breaker outputs and or ground fault condition.
(HS/ECB):
•Low-Speed Electronic Shuts down the amplifier if the amplifier is operated above the
Circuit Breaker maximum continuous current rating for 2seconds.
(LS/ECB):
•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 amplifier condition.
•Surface mount Constructed with surface mount components.
technology:
•Line operated AC power operation, 110-130VAC: Single or three phase AC input with in-rush current
protection at turn-on. No power isolation transformer is required.
•Regen clamp circuit (shunt regulator) with LED indicator and internal load resistor bank bleeds off excess
DC Buss voltage when decelerating a large load inertia (95 watts for the SMA7130 and 375 watts for the
SMA71075 and SMA71100). The regen clamp circuit is set to turn on at 225VDC.
•All faults can be monitored through isolated logic signals.
•Bridge rectifier(s) and filter capacitor(s).
•Cooling fans.
CHAPTER 1: DESCRIPTION, FEATURES AND SPECIFICATIONS

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
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 ±50 4,000 15,000 0-5
Tachometer input ±50 10,000 7,000
1.3 Specifications:
1.3.1 Stand-Alone Amplifier (SMA7130-1A-1, SMA71075-1A-1, SMA71100-1A-1):
The amplifier requires external AC power. 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: +24V max. Terminated by 10K ohms.
•Fault (as input): +40V/-5v max. Terminated by 10K ohms.
•Typical for all digital inputs: Digital inputs have hysteresis with thresholds at 1/3 and 2/3 of +5V or
+15V depending on range selected.
1.3.1.4 System:
•Drift offset over temperature reference to input: 0.01mV/ oC max.
•Frequency response (Velocity loop): 750Hz min.
•Frequency response (Current loop): 2KHz min.
•Dead band: None.
•Form factor: 1.01.
1.3.1.5 Outputs:
•Fault (as output): Active low. Open-collector output can sink 75mA max. through 10 ohms.
•Absolute motor current: Bipolar output. 1V=10Afor SMA7130; 1V=40A for SMA71075 &
SMA71100. 10mA max.
CHAPTER 1: DESCRIPTION, FEATURES AND SPECIFICATIONS
Amplifier
Model
AC
Input
Voltage
R.M.S. Peak
SMA7130-1A-1120 30A 60A
SMA71075-1A-1120 75A 150A
SMA71100-1A-1120 100A 150A
Output Power
(Current)
1.3.1.2Signal Inputs:
1.3.1.6 Mechanical:
Model L x W x H
(inches) Weight (lbs)
SMA7130-1A-1 14.50 x 4.25 x 8.81 11.00
SMA71075-1A-117.63 x 5.75 x 12.40 28.00
SMA71100-1A-117.63 x 5.75 x 12.40 28.00

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
Chapter Two: Theory of Operation
2.1 Introduction:
This chapter contains the basic control theory of how brush type and brushless servo motors and amplifiers
operate. It also compares and contrasts the advantages and disadvantages of brushless and brush type motors
and amplifiers to help you select which is best suited for your application. The following is a summary of the
topics:
•The theory behind an amplifier driving DC servo motors.
•A comparison between brush type and brushless motors.
•Operation of output switching transistors.
•“H Type” output bridge configuration.
•Pulse-Width-Modulation (PWM).
•Current-Loop and Velocity-Loop operation.
•Protection circuits.
2.2 Driving DC Servo-Motors:
The torque of any DC motor is proportional to motor current: the stronger the magnetic field, the stronger the
pull. Motor current may be controlled in two ways: linear and PWM (Pulse-Width Modulation). Linear control is
achieved by simply inserting a resistance in series with the motor. This resistance is usually a partially turned on
transistor. The transistor is said to be in its "linear" region. Linear amplifiers are simple, accurate, and effective.
However, they are very inefficient and they generate a lot of heat. Linear amplifiers are used when low electrical
noise, high bandwidths (2KHz or higher) and or low inductance (less than 1mH) motors are used. In pulse-width
modulation the control devices (output transistors) are rapidly turned full on and full off. The ratio of the on time
(the pulse width) and off time determines the average motor current. Refer to figure 2.1. For example: if the
output is on 25% of the time and off 75% of the time, the average motor current is approximately 25% of
maximum.
A coil of wire, such as the windings of a motor, forms an inductor. Inductors resist changes in current. This
resistance to change, known as reactance, acts to dampen or average the high-current spikes that would
otherwise occur when the output devices are on. In fact, if motor inductance is low, external inductors may have
to be added in series with each motor lead to ensure proper operation.
A brush type motor may be run from a steady DC voltage since the brushes and commutator switch the
current from winding to winding. However, a brushless motor requires that the voltage be switched from winding
to winding externally; the voltage that drives a brushless motor is a constantly changing AC waveform. Section
2.5 discusses these waveforms.
Figure 2.1
Pulse Width Modulation Waveform
CHAPTER 2: THEORY OF OPERATION

Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322
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SMA7130, SMA71075 and SMA71100 MANUAL
CHAPTER 2: THEORY OF OPERATION
2.3 Servo Loops:
A basic velocity mode servo loop for a brush type motor is shown in figure 2.2a. 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 (linear or PWM) 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.
The servo-loops of a brushless amplifier (figure 2.2b) operate in much the same way,
except there are now three current loops, one for each phase of the motor.
Figure 2.2a
Velocity mode sevo loop
for a brush type motor
Figure 2.2b
Velocity mode sevo loop
for a brushless motor