Glentek SMA8730 Installation and operating instructions

OPERATION
&
SERVICE MANUAL
Model SMA8730
Brushless Amplifier System

2GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
Table of Contents
Introduction...................................................................................... 5
Chapter One: Description, Features and Specifications
1.1 Description....................................................................................... 6
1.1.1 Standard Encoder to Sine Mode .................................................................6
1.1.2 Twang Mode................................................................................................6
1.2 Features........................................................................................... 6-8
1.2.1 Single Amplifier Module (SMA8730-1A-1)...................................................6-8
1.3 Specifications................................................................................... 9-10
1.3.1 Amplifier Module (SMA8730-1A-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..........................................................................................9
1.3.1.5 Outputs.........................................................................................9
1.3.2 Mechanical ..................................................................................................10
Chapter Two: Theory of Operation
2.1 Current Mode vs Velocity Mode....................................................... 11
2.2 Protection Circuit.............................................................................. 11
Chapter Three: Model Numbering
3.1 Introduction...................................................................................... 12
3.2 Amplifier Module.............................................................................. 13
Chapter Four: Installation Procedure
4.1 Introduction...................................................................................... 14
4.2 Mounting.......................................................................................... 14
4.3 Wiring............................................................................................... 14-16
4.3.1 RFI/EMI and Wiring Technique...................................................................14
4.3.2 Wire Size and Type.....................................................................................15
4.3.3 Connector Size and Type............................................................................15
4.3.3.1 The Power and Motor connector of the Amplifier Module............15
TABLE OF CONTENTS

3GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
4.3.3.2 The Signal Connector...................................................................16
4.4 Amplifier Module Connections(SMA8730-1A-1).............................. 17-18
4.4.1 Power and Motor Connections - TB1..........................................................17
4.4.2 Signal Connections for the Encoder to Sine Mode Amplifier - J1................17
4.4.3 Signal Connections for the Encoder to Sine Mode Pre-amp - J4 and J5....18
Chapter Five: Configuration
5.1 Introduction...................................................................................... 19
5.2 Logic Input Configuration................................................................. 19
5.3 Encoder to Sine Mode Amplifier Configuration................................ 19-23
5.3.1 +15V/+5V Logic Level Configuration ..........................................................20
5.3.2 Standard Configuration for Encoder to Sine Velocity Mode
and Current Mode........................................................................................20
5.3.3 Tach Lead ..................................................................................................20
5.3.4 Tach - Reverse Configuration ....................................................................20
5.3.5 Motor - Reverse Configuration ...................................................................20
5.3.6 Coarse Balance ..........................................................................................20
5.3.7 Hall 60/120 .................................................................................................21
5.3.8 Encoder - Reverse Configuration ...............................................................21
5.3.9 Rotary Motor (S3) Settings..........................................................................21
5.3.10 Linear Motor (S3) Settings...........................................................................21
5.3.11 Trap Only - Forced Hall ..............................................................................22
5.3.12 Range .........................................................................................................22
5.3.13 Encoder Configuration ................................................................................22-23
Chapter Six: Start Up and Calibration
6.1 Introduction...................................................................................... 24
6.2 Initial Start Up .................................................................................. 24
6.3 Phasing Procedures......................................................................... 24-26
6.4 Encoder to Sine Mode Amplifier Calibration.................................... 26-29
6.4.1 Encoder to Sine Mode Amplifier Calibration Procedure - Velocity Mode ....26-27
6.4.2 Encoder to Sine Mode Amplifier Calibration Procedure - Current Mode.....28
6.5 Calibration Setup Record................................................................. 29
TABLE OF CONTENTS

4GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
Chapter Seven: Maintenance, Repair and Warranty
7.1 Maintenance.................................................................................... 30
7.2 Amplifier Faults................................................................................ 30-32
7.2.1 Table of Fault LED Conditions ....................................................................30
7.2.2 Under Voltage Fault.....................................................................................31
7.2.3 Motor Over Temp Fault...............................................................................31
7.2.4 High Speed Electronic Circuit Breaker (HS/ECB) Fault..............................31
7.2.5 Low-Speed Electronic Circuit Breaker (LS/ECB) Fault ...............................31
7.2.6 Over Temp Fault .........................................................................................32
7.2.7 Over Voltage Fault.......................................................................................32
7.2.8 Hall Error Fault ............................................................................................32
7.2.9 Resetting A Fault.........................................................................................32
7.3 Amplifier Failure............................................................................... 33
7.4 Factory Repair ................................................................................. 33
7.5 Warranty.......................................................................................... 34
Appendix A: Amplifier Drawings
SMA8030 Brushless Power Board Installation Schematic
(8030-1037)..................................................................................... 36
SMA8030 Brushless Power Board Assembly Drawing
(8030-1032)..................................................................................... 37
SMA8730-1 Encoder to Sine Amplifier Module Installation
(8030-1036)..................................................................................... 38
Appendix B: Personality Module (Pre-Amp)
SMA8730 Encoder to Sine Mode Installation Schematic (8000-2432).... 40-41
SMA8730 Encoder to Sine Mode Assembly Drawing (8000-2430)......... 42-43
TABLE OF CONTENTS

5GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
Introduction
Glentek's brushless DC 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, brushless servo-motor amplifier, model
SMA8730.
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
not addressed in this manual, 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
and money, and to provide you with a superior product.

6GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
Chapter One: Description, Features and Specifications
1.1 Description:
This brushless amplifier system has been designed to offer you, our customer, a large
degree of flexibility and customization with a standard, in stock product. Each amplifier
module consists of a standard power output board with a personality module mounted on it.
Following is a brief description of this personality module and its mode(s) of operation:
1.1.1 Standard Encoder to Sine Mode (SMA8730-1A-1) - In this mode of operation, the
brushless motor is commutated by hall sensors and an encoder, or an encoder which
contains three commutation signals (comm. tracks). This personality module can be
configured for the following two different types of operation:
VELOCITY MODE - In this mode of operation, the personality module generates a
tachometer signal which is used to close a velocity loop in the amplifier.
CURRENT MODE - In this mode of operation, which is also commonly referred to as
torque mode, a current in the motor is produced which is directly proportional to the
input signal.
1.1.2 Twang Mode (SMA8730-1A-1) - In this mode of operation, the brushless motor is
commutated by an encoder only.
These brushless amplifiers come with all industry standard inputs such as "limit, fault
output, etc. They are available as stand-alone units only.
1.2 Features:
1.2.1 Amplifier Module (SMA8730-1A-1):
Ergonomic design: Easy access to connections, adjustments, and
test points.
Wide operating 120-340 VDC.
buss voltage:
Complete isolation: Complete isolation from input to output.
Dual signal inputs: Two single-ended or one differential. Both
single-ended inputs may be used simultane-
ously. All inputs have up to 15,000 A/V gain,
and all inputs will accept +/-13VDC except
single-ended, which will accept +/- 10VDC.
CHAPTER ONE: DESCRIPTION, FEATURES AND SPECIFICATIONS

7GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
Dual mode operation: The standard amplifier may be configured for
velocity (RPM) control or current (torque) con-
trol.
Current limit: Maximum motor current is adjustable.
Silent operation: Carrier frequency is 20KHz.
Short circuit protection: Complete short circuit and ground fault protec-
tion.
LED diagnostics: Red LED flashes to display various fault condi-
tions and a green LED illuminates to indicate
normal operating conditions.
Frequency response: 750 Hz minimum.
(Velocity Loop)
Frequency response: 2 KHz minimum.
(Current Loop)
Digital limit/enable Three separate logic inputs can stop the motor
Inputs: in either or both directions. Inputs may be
configured for active-high or active-low, pull-up
or pull-down termination, and a 0 to +5V or 0 to
+15V range.
Tachometer output: DC output proportional to motor RPM.
Fault input/output: Open-collector output goes low in the event of a
fault. This input is configured so that externally
forcing this output low will inhibit the amplifier.
This allows all fault outputs in a multi-axis sys-
tem to be connected together (wire-ORed) to
shut down all amplifiers should any amplifier
have a fault.
Manual and external Push button and a separate input is provided to
fault reset: reset the amplifier after a fault.
High-Speed Electronic Instantly shuts down the amplifier in the event of
Circuit Breaker a short across the motor leads or a ground fault
(HS/ECB): condition. (i.e. amplifier exceeds 100A for 10
microseconds)
CHAPTER ONE: DESCRIPTION, FEATURES AND SPECIFICATIONS

8GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
Low-Speed Electronic Shuts down the amplifier if the amplifier is
Circuit Breaker operated above the maximum continuous
(LS/ECB): current rating for a pre-determined period (i.e. 3
seconds).
Over/under voltage These circuits constantly monitor the amplifier
and over temperature: power-supply voltages, and the motor and
amplifier-heatsink temperatures. They will shut
down the amplifier in the event of any out-of-
specification condition.
CHAPTER ONE: DESCRIPTION, FEATURES AND SPECIFICATIONS

9GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
1.3 Specifications:
This section contains the specifications for the brushless encoder to sine mode D.C. Servo
Amplifiers.
NOTE: All data in this section is based on the following ambient conditions: 120 oF (50
oC) maximum. Forced air cooling.
1.3.1 Amplifier Module (SMA8730-1A-1):
The amplifier module includes an integral DC power supply which includes a bridge
rectifier, buss capacitors, in-rush current protection, cooling fans and a shunt
regulator. Forced air cooling is required to meet the maximum power ratings
specified below.
1.3.1.1 Input and Output Power:
1.3.1.2 Signal Inputs:
1.3.1.3 Digital Inputs:
±Limit, Inhibit & Reset: 40/-0.5V max. Terminated by 10,000W.
Fault (as input): 40/-0.5V max. Terminated by 10,000W.
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 jumper.
Input Power/
Buss Voltage(B+) Output Power (current)
CONTINUOUS PEAK
120VAC/170VDC 30A 60A
240VAC/340VDC 30A 60A
Amplifier
Model Signal Input Maximum Voltage
(VDC)
Minimum
Impedance
(ohms)
Velocity Gain
Amp./Volt Current Gain Amp./Volt
8730 Differential 13 10,000 15,000 (min.) 0-5
8730 Single-ended +/- 10 10,000 15,000 (min.) 0-5
CHAPTER ONE: DESCRIPTION, FEATURES AND SPECIFICATIONS

10GLENTEK Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA8730
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
500mA max
Abs. motor current 10A/V.
Tachometer : 1000 ohm source impedance, a high input
impedance meter must be used (1M ohm /
volt).
1.3.2 Mechanical:
Model L x W x H
(inches) Weight (lbs)
SMA8730-1A-1 (Amplifier Module) 4.25 x 8.81 x 14.50 15.00
CHAPTER ONE: DESCRIPTION, FEATURES AND SPECIFICATIONS