Glentek SMA5005 User manual

OPERATION
&
SERVICE MANUAL
SMA5005 & SMA5015
H Bridge Linear Servo Drives

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2 glentek.com MANUAL # 5005-2040-000-F UPDATED: 6/1/2021
TABLE OF CONTENTS
TABLE OF CONTENTS ................................................................................................................................................... 2
INTRODUCTION ........................................................................................................................................................... 3
FEATURES.................................................................................................................................................................... 4
APPLICATION NOTE ..................................................................................................................................................... 5
TECHNICAL SPECIFICATIONS ........................................................................................................................................ 7
MODEL NUMBERING ...................................................................................................................................................8
START UP AND CALIBRATION .................................................................................................................................... 11
A. INITIAL START UP......................................................................................................................................................... 11
B. CALIBRATION OF THE VELOCITY MODE OF A STANDARD PERFORMANCE DRIVE (SMA5005 SERIES)............................................. 12
C. CALIBRATION OF THE CURRENT MODE OF A STANDARD PERFORMANCE DRIVE (SMA5005 SERIES) ............................................. 14
D. CALIBRATION OF THE CURRENT MODE OF A HIGH PERFORMANCE DRIVE (SMA5005-4 SERIES)................................................. 15
E. CALIBRATION SETUP RECORD (SMA5005 SERIES).............................................................................................................. 16
F. CALIBRATION OF THE VELOCITY MODE DRIVE (SMA5015 SERIES)......................................................................................... 17
G. CALIBRATION OF THE CURRENT MODE DRIVE (SMA5015 SERIES) ........................................................................................ 19
H. CALIBRATION SETUP RECORD (SMA5015 SERIES) ............................................................................................................. 20
APPENDIX.................................................................................................................................................................. 21
SMA5015, INSTALLATION................................................................................................................................................. 23
SMA5015, ELECTRICAL FUNCTIONAL BLOCK SCHEMATIC ........................................................................................................ 24
SMA5015, SCHEMATIC,INSTALLATION,POWER SUPPLY......................................................................................................... 25
SMA5015, PRINTED CIRCUIT BOARD ASSEMBLY,DRIVE ......................................................................................................... 26
SMA5015, PRINTED CIRCUIT BOARD ASSEMBLY,POWER SUPPLY............................................................................................. 27
SMA5005, INSTALLATION................................................................................................................................................. 28
SMA5005, LOGIC INPUT CONFIGURATION SETTINGS.............................................................................................................. 28
SMA5005, SCHEMATIC,INSTALLATION ............................................................................................................................... 30
SMA5005, PRINTED CIRCUIT BOARD ASSEMBLY,DRIVE ......................................................................................................... 31
SMA5005-4 HIGH PERFORMANCE,INSTALLATION ................................................................................................................ 32
SMA5005-2A-2, 2-AXIS BASEPLATE ASSEMBLY ................................................................................................................... 33
SMA5005-2A-4, 4-AXIS BASEPLATE ASSEMBLY ................................................................................................................... 34
T657TB, POWER TRANSFORMER ........................................................................................................................................ 35
T693TB, POWER TRANSFORMER ........................................................................................................................................ 36
EUROPEAN UNION EMC DIRECTIVES:ELECTROMAGNETIC COMPATIBILITY GUIDELINES.................................................................. 37
DECLARATION OF INCORPORATION MOTION CONTROL SYSTEMS............................................................................................... 42

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MANUAL# 5005-2040-000-F UPDATED: 6/1/2021 glentek.com 3
INTRODUCTION
The Glentek SMA5005 and SMA5015 H bridge Linear Servo Drives provide the optimum solution
for applications which require high current loop bandwidth, low radiated electrical noise, and low
crossover distortion. The SMA5015 Drive incorporates our latest generation ISO-BIAS current
sense technology, which provides one of the lowest drift linear Drives on the market today. These
Drives are constructed using surface mount technology and incorporate the latest in heat transfer
technology which make them one of the most powerful Drives for a given form factor.
Typical applications are brushed DC permanent magnet motors and voice coil motors.
The SMA5005 & SMA5015 are configurable and can operate in the following modes:
1. Velocity mode for motors with tachometer feedback*
2. Current mode for torque mode operation
*High performance models only support current mode
A basic velocity mode servo loop for a brush type motor is shown in figure A. An external controller
commands a given velocity (RPM). The velocity loop summing Drive 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 Drive 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 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.
Figure A - Velocity mode servo loop for a brush type motor

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FEATURES
•Ergonomic Design Easy access to connections, adjustments and test points.
•SMT construction Provides ultra compact size, cost competitive package and high
reliability.
•Bandwidth Standard performance models have a nominal 10 kHz current loop
bandwidth which varies with the motor inductance.
High performance models (SMA5005-4) have a nominal 15 kHz
current loop bandwidth which varies with the motor inductance.
•Linear output stage Provides high bandwidth, low noise and zero crossover distortion.
•Multimode operation Velocity mode (tachometer feedback), Current mode (torque) and
voltage mode (SMA5015 only)
•Operating Voltage Operating input voltage range 17-0-17 to 39-0-39 VAC for standard
SMA5015 stand alone (higher voltages available) 24-75 VDC for
standard SMA5005 module.
•Basic versions Velocity and current modes (SMA5015 is field configurable).
High performance models (SMA5005-4) operate in current mode only
•Fault protection Short from output to output, short from output to ground, Drive RMS
over current, Drive under/over voltage (SMA5015 only) and Drive
over temperature.
•Status indicator 7-segment LED display indicates Drive status on the SMA5015 and
LEDs indicate status on the SMA5005.
•Dedicated inputs command signals, +/- limits, inhibit, reset, and fault. (Note: high
performance SMA5005-4 models only have reset and inhibit digital
inputs and the logic type and pull-up voltage is fixed. See model
numbering)
•Dedicated outputs fault out and motor current monitor
•Manual reset A push button reset is available to reset a fault (SMA5015 only).
•Current limit Peak motor current is adjustable.
•Transformer T657TB and T693TB are available for the SMA5015; see drawings in
the Appendix for more information.
•External fault reset An input is provided to reset the Drive in the event of a fault.
•CE compliant All servo Drives are CE marked.

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APPLICATION NOTE
POWER DISSIPATION CONSIDERATIONS AND CALCULATIONS WHEN USING
LINEAR DC SERVO DRIVES:
When selecting a linear Drive, the following ratings of the Drive should be known in order to
properly size the Drive to your system requirements:
1–The total wattage, peak current, and voltage rating of all the semiconductors installed on the
heat sink of the output power stage of the Drive.
Output transistor ratings for the SMA5005 series are:
Voltage: 250 Volts
Peak current: 60 A; Continuous current: 30 A (Normally shipped with 12-20A limit)
Total wattage @25 deg C.:1200 Watts
Output transistor ratings for the SMA5015 series are:
Voltage: 200 Volts
Peak current: 240 A; Continuous current: 60 A (Normally shipped with 20-50A limit)
Total wattage @25 deg C.:4480 Watts
The SMA5005 series Drive is a module requiring an external unregulated single polarity DC power
supply. Glentek offers various unregulated power supplies for the SMA5005 series Drives.
The SMA5005 series Drive is also available in multi-axis configurations. That is, there are two
basic baseplate assemblies namely 2-axis and 4-axis baseplate assemblies that have built-in AC
to DC power supplies (un-regulated) and cooling fans. The 2-axis baseplate assembly contains
one AC to DC power supply, one fan, and up to two SMA5005 Drive modules. The 4-axis
baseplate assembly contains one AC to DC power supply, two fans, and up to four SMA5005 Drive
modules. For multi-axis applications, it is always recommended to use three phases power
transformers for minimizing ripple voltage during high current demand scenarios where all axis
motors are running at full load simultaneously. Glentek offers various isolated three phases power
transformers.
The SMA5015 series is a stand-alone style Drive, meaning that the unregulated dual polarity
power supply is mounted within the Drive enclosure. Glentek offers 1.4KVA and 2.0KVA center
tapped power transformers for the SMA5015 series Drives.
2–Typical continuous internal power dissipation rating of the Drives running at normal room
conditions is:
SMA5005-xLB series (L-bracket heatsink); 100 Watts continuous
SMA5005-xSF series (short fin heatsink); 250 Watts continuous
SMA5015 series; 300 Watts continuous
For most applications, the above heat sinking is adequate. However, if you have a usage mode
where the heat sink temperature becomes excessive, please contact Glentek and we can furnish a
larger heat sink with greater air flow for your application.

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Use the following relationships to calculate Drive dissipation:
1) Pd = Im x Vb (watts)
Where: Pd = Total watts delivered from bus
Im = Motor current
Vb = Bus voltage
2) Pm = Im x Vm (watts)
Where: Pm = Total power (watts) dissipated in motor
Vm = Motor voltage
3) Pa = Im x Vb - Im x Vm
Where: Pa = Total watts dissipated at Drive
From the above relationship, it can be surmised that the worst case dissipation occurs when the
Drive has to deliver a high continuous current at a low motor speed, i.e., less motor BEMF and
more current. For some applications, a power resistor can be added in series with the motor thus
shifting some of the power dissipation from the Drive to the resistor.

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MANUAL# 5005-2040-000-F UPDATED: 6/1/2021 glentek.com 7
TECHNICAL SPECIFICATIONS
Output
•SMA5005: 15A peak, 5A continuous, (forced air cooling required)
Note: Large motor and small motor versions have different velocity loop compensation.
•SMA5015: 25A peak, 10A continuous, (integral fan cooling)
Rated Internal Power Dissipation
•SMA5005-xLB series (L-bracket heatsink); 100 Watts continuous
•SMA5005-xSF series (short fin heatsink); 250 Watts continuous
•SMA5015 series; 300 Watts continuous
Input
•SMA5005: 24-75VDC
•SMA5015: 17-0-17VAC to 39-0-39VAC (+/-24 to +/-55VDC Bipolar Input)
•Integral forced air fan cooling (multi-axis SMA5005 and SMA5015 only)
•Analog command signals: differential & single ended, adjustable gain
•Manual reset Pushbutton switch (SMA5015 only)
•Reset: SMA5005: pull up/pull down, active high, active low
SMA5015: pull up/pull down, active high, active low
•Inhibit: Same as Reset
•+/- Limits: Same as Reset
Refer to Drive Configuration Code on page 11 for more information on signals input options
Output Connections
•Motor: MTR + & MTR-
•Fault out: SMA5005: Optically isolated can sink up to 50 mA, active high only
SMA5015: Open collector, Pulled Up (+5V), active high or active low
Bandwidth
•10 kHz maximum and varies with motor inductance for standard performance models
•15 kHz maximum and varies with motor inductance for high performance models
Status Indicator
•SMA5005: Green Run LED, Red Inhibit LED, Red Fault LED
•SMA5015: 7-segment LED display indicates Drive status and diagnostics
Mechanical
•SMA5005-xLB module: Height: 4.87”, Width: 1.20”, Depth: 7.13”
•SMA5005-xSF module: Height: 4.87”, Width: 1.88”, Depth: 7.13”
•SMA5005 2-Axis: Height: 6.93”, Width: 9.75”, Depth: 10.75”
•SMA5005 4-Axis: Height: 6.93”, Width: 14.88”, Depth: 10.75”
•SMA5015 stand-alone: Height: 9.00”, Width: 4.25”, Depth: 14.50”
Environmental
•Operating temperature 0 to 55°C
•Storage temperature -40 to 80°C
•Humidity 5 –95% relative (non-condensing)

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MODEL NUMBERING
The information below should be used to order your Drive pre-configured for your application. You
may wish to have a Glentek application engineer confirm your configuration because field
configuration options are limited.
Standard Performance Drive Model Numbering:
Velocity Loop Compensation
Leave blank for standard performance current mode
drives
S = Small Motor (less than 3” in diameter)
L = Large Motor (3” or greater in diameter)
Drive Model Number
SMA5005—xx—bbb—1
Multi-Axis: 1 to 4 Axes
Drive Model Number
SMA5005—xx—bbb—eA-g
2 or 4 Axis Chassis
Velocity Loop Compensation
Leave blank for standard performance
current mode drives
S = Small Motor (less than 3” in diameter)
L = Large Motor (3” or greater in diameter)
Drive Configuration Code
See configuration algorithm on page 11
Drive Configuration Code
See configuration algorithm on page 11
Drive Model Number
Stand Alone
SMA5015—bbb—1A-1
Internal Heat Dissipation
LB = 100 W (L-bracket heatsink)
SF =250 W (Short fin heatsink)
Internal Heat Dissipation
LB = 100 W (L-bracket heatsink)
SF =250 W (Short fin heatsink)
Single Module
Drive Configuration Code
See configuration algorithm on page 11
Standard performance servo drives have a nominal 10 kHz current loop bandwidth
which varies with the motor inductance.

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High Performance Drive Model Numbering:
Drive Model Number
SMA5005—4x—34C—1
Multi-Axis: 1 to 4 Axes
Drive Model Number
SMA5005—4x—34C—eA-g
2 or 4 Axis Chassis
Drive Configuration Code
Hardwired: see configuration algorithm on
next page
Internal Heat Dissipation
LB = 100 W (L-bracket heatsink)
SF =250 W (Short fin heatsink)
Internal Heat Dissipation
LB = 100 W (L-bracket heatsink)
SF =250 W (Short fin heatsink)
Single Module
Drive Configuration Code
Hardwired: see configuration algorithm on
next page
High performance servo drives have a nominal 15 kHz current loop bandwidth which varies with
the motor inductance.
Standalone model only available as a standard performance servo drive
Note that high performance models have 34C fixed configuration code.
Reset is pulled down active high, inhibit is pulled up active high, and there are no +/- limits.
Signal input is set for differential, but can be configured for single ended input by externally
grounding one of the two signal input lines.
Due to the high performance and high current loop bandwidth, voice coil/motor parameters,
operating voltage, and desired current loop bandwidth are required upon ordering.

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Inhibit, Reset, ±Limit Configuration
Type
Input is:
Input State:
Binary Code
A
Internally Pulled Up
Active When Low
00
C
Internally Pulled Up
Active When High
01
D
Internally Pulled Down
Active When Low
10
B
Internally Pulled Down
Active When High
11
Important Notes:
SMA5005 is not field configurable
except signal input
SMA5015 logic inputs are hard
wired, either pulled up or
pulled down at the factory
High performance SMA5005 has
configuration code 34C:
Reset is Pulled down, Active high
Inhibit is Pulled up, Active high
±Limit is Pulled up, Active high
Differential input
Current mode
+15V Input logic pull up voltage select
Logic Input Configuration for Inhibit
Type A
Requires grounding of input to disable the Drive.
Type B
Requires a positive voltage at input to disable the Drive.
Type C
Requires grounding of input to enable the Drive.
Type D
Requires a positive voltage at input to enable the Drive.
Differential or Single-ended input:
0 = Single-ended
1 = Differential.
Velocity or Current Mode:
0=Velocity; 1=Current.
Input Logic Pull Up Voltage Select
+15V / +5V
0 = +15V
1 = +5V
4 Bit Binary-to-Hexadecimal
Conversion
0000=0
1000=8
0001=1
1001=9
0010=2
1010=A
0011=3
1011=B
0100=4
1100=C
0101=5
1101=D
0110=6
1110=E
0111=7
1111=F
0
0
0
±Limit 0=Active Low, 1= High
±Limit 0=Pulled Up, 1= Down
Inhibit 0=Active Low, 1= High
Inhibit 0=Pulled Up, 1= Down
Reset 0=Active Low, 1= High
Reset 0=Pulled Up, 1= Down
Drive Configuration Code
Insert 3 digit hexadecimal code into “Drive
Configuration Code”section of model
numbering (bbb).