GTK Torque-Switch Series Installation and operating instructions

208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
OPERATION
&
SERVICE MANUAL
for
Torque-Switch Series®
Model SMA7215
Brush Type Amplifier System
MANUAL#: 7015-2040
REVISION: (A)
DATE: 15APR98.

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Table of Contents Page
Introduction...............................................................................................................5
Chapter One: Description, Features and Specifications
1.1 Description ..................................................................................................6
1.2 Features......................................................................................................6-7
1.3 Specifications..............................................................................................8
1.3.1 Input and Output Power..................................................................8
1.3.2 Signal Inputs ...................................................................................8
1.3.3 Digital Inputs ...................................................................................8
1.3.4 System............................................................................................8
1.3.5 Outputs............................................................................................8
1.3.6 Mechanical......................................................................................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

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SMA7215 MANUAL
Page
Chapter Three: Model Numbering
3.1 How to order ................................................................................................15
Chapter Four: Installation
4.1 Introduction..................................................................................................16
4.2 Mounting......................................................................................................16
4.3 Wiring...........................................................................................................16-19
4.3.1 RFI/EMI and Wiring Technique..........................................................16
4.3.2 Wire Size and Type............................................................................17
4.3.3 Connector Size and Type...................................................................17-18
4.3.3.1 The Power Connector...............................................................18
4.3.3.2 The Signal Connector...............................................................19
4.3.4 Amplifier Connections ........................................................................18-19
4.3.4.1 The Power Connections ...........................................................18
4.3.4.2 The Signal Connections............................................................18-19
4.3.5 Test Point...........................................................................................19
Chapter Five: Configuration
5.1 Introduction..................................................................................................20
5.2 Logic Input Configuration.............................................................................20
5.2.1 +15V/+5 Logic Level Configuration....................................................20
5.2.2 Velocity/Voltage Feedback Mode and Current Mode Configuration....20
5.2.3 Integrator Configuration......................................................................20
Chapter Six: Start Up and Calibration
6.1 Introduction..................................................................................................21
6.2 Initial Start Up ..............................................................................................21
6.3 Calibration of the Velocity Mode Amplifier...................................................21-23
6.4 Calibration of the Current Mode Amplifier....................................................23-24
6.5 Calibration Setup Record.............................................................................25

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TABLE OF CONTENTS
Page
Chapter Seven: Maintenance, Repair, and Warranty
7.1 Maintenance ................................................................................................26
7.2 Amplifier Faults............................................................................................26-29
7.2.1 Table of Fault LED Conditions........................................................26
7.2.2 Under Voltage Fault........................................................................27
7.2.3 High Speed Electronic Circuit Breaker (HS/ECB) Fault..................27
7.2.4 Low Speed Electronic Circuit Breaker (LS/ECB) Fault...................27
7.2.5 Over Temp Fault.............................................................................27
7.2.6 Over Voltage Fault..........................................................................28
7.2.7 Resetting A Fault.............................................................................28
7.3 Amplifier Failure...........................................................................................28
7.4 Factory Repair .............................................................................................28
7.5 Warranty......................................................................................................29
Appendix: Amplifier Drawings
SMA7215 Power Board Installation Schematics (7015-2044-000)....................31
SMA7215 Power Board Assembly Drawing (7015-2002-000)...........................32
SMA7215-1 Installation Drawing (7015-2030-000)............................................33

5GLENTEK Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA7215 MANUAL
Introduction
Glentek's brush type 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 amplifier, model SMA7215.
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.

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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.
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. Several LED’s show what fault has occurred, and a separate
output can be used to signal other equipment.
1.2 Features:
• Ergonomic design: Easy access to connections, adjustments, and test points.
• Wide operating 24-220VDC.
buss voltage:
• Complete isolation: Complete isolation from input to output.
• Signal input: Input has up to 15,000A/V gain and will accept +/-13VDC.
• Dual mode operation: The amplifier may be configured for velocity (RPM) control or
current (torque) control.
• BEMF velocity mode This mode uses back EMF to deduce motor speed for feedback with
IR Comp. 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.
CHAPTER 1: DESCRIPTION, FEATURES AND SPECIFICATIONS

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SMA7215 MANUAL
• 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(S) illuminate to display various fault conditions and
a green LED illuminates to indicate normal operating
conditions.
• Frequency response: 750 Hz minimum for Velocity Loop.
• Frequency response: 2 KHz minimum for Current Loop.
• Manual and external Push button and a separate input is provided to reset the
fault reset: amplifier after a fault.
• High-Speed Electronic Instantly shuts down the amplifier in the event of a short
Circuit Breaker across outputs and or ground fault condition.
(HS/ECB): (i.e. amplifier exceeds 80A for 10microseconds)
• Low-Speed Electronic Shuts down the amplifier if the amplifier is operated above
Circuti Braker the maximum continuous current rating(i.e. 13A for standard
(LS/ECB): 18A for high power) for 5seconds.
• Foldback current limit: Folds back the continuous current delivered by the amplifier
to 15A(standard) or 20A(high power) if the amplifier is
operated above the maximum continuous current rating for
2 seconds.
• Over/under voltage These circuits constantly monitor amplifier power-
and over temperature: supply voltages, and amplifier-heatsink temperature. They
will shut down the amplifier in the event of any out-of-
specification condition. The overvoltage protection circuit is
set to turn on at 250VDC.
• Surface mount Constructed with surface mount components.
technology:
• Clamp Circuitry: Apply brake to motor and releases after 100msec to inhibit
the amplifier.

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Signal Input Voltage
VDC
(maximum)
Impedance
(minimum)
Ω
Velocity Gain
Amp./Volt Current Gain Amp./Volt
Single-ended +/-70 10,000 15,000 0-5
Tachometer input +/-90 10,000 7,000
1.3 Specifications:
The amplifier module requires an external DC power supply which must include a bridge
rectifier, buss capacitor, solid-state relay and shunt regulator. Forced air cooling is required to
meet the maximum power ratings specified below.
1.3.1 Input and Output Power:
• Buss Voltage, B+: 24-220VDC.
• Output Power: Standard 15A(continuous), 25A(peak).
High Power 20A(continuous), 40A(peak).
1.3.2 Signal Inputs:
1.3.3 Digital Inputs:
• +/-Limit, Clamp and Reset: +/-50V max. Terminated by 10,000Ω.
• Fault (as input): +40V/-5V max. Terminated by 10,000Ω.
• 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.
1.3.4 System:
• Drift offset over temperature reference to input: 0.01mV/ o C max.
• Frequency response (Velocity loop): 750Hz min.
• Frequency response (Current loop): 2KHz min.
• Dead band: None.
• Form factor: 1.01.
1.3.5 Outputs:
• Fault (as output): Active low. Open-collector output can sink 100mA
maximum through 10Ω.
• Motor current: Bipolar output. 1V=5A.
• LS/ECB, HS/ECB Open-collector outputs can sink 40mA max.
Overvolt, Overtemp:
1.3.6 Mechanical:
Dimensions L x W x H (inches): 7.12 x 1.36 x 4.79
Weight (lbs): 1.28
CHAPTER 1: DESCRIPTION, FEATURES AND SPECIFICATIONS

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SMA7215 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

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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

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SMA7215 MANUAL
Figure 2.3
Brush type and Brushless type Motors
2.4 Brushed Motors vs. Brushless Motors:
There are two basic types of motor design that are used for high-performance motion
control systems: brush type PM (permanent magnet), and brushless type PM. As you can
see in figure 2.3, a brush type motor has windings on the rotor (shaft) and magnets in the
stator (frame). In a brushless type motor, the magnets are on the rotor and the windings are
in the stator.
To produce optimal torque in a motor, it is necessary to direct the flow of current to the
appropriate windings with respect to the magnetic fields of the permanent magnets. In a
brush-type motor, this is accomplished by using a commutator and brushes. The brushes,
which are mounted in the stator, are connected to the motor wires, and the commutator
contacts, which are mounted on the rotor, are connected to the windings. As the rotor turns,
the brushes switch the current flow to the windings which are optimally oriented with respect
to the magnetic field, which in turn produces maximum torque.
In a brushless motor there is no commutator to direct the current flow through the
windings. Instead, an encoder, hall sensors or a resolver on the motor shaft senses the rotor
position (and thus the magnet orientation). The position data is fed to the amplifier which in
turn commutates the motor electronically by directing the current through the appropriate
windings to produce maximum torque. The effect is analogous to a string of sequencing
Christmas lights: the lights seem to chase each other around the string. In this case, the
magnets on the rotor "chase" the magnetic fields of the windings as the fields "move" around
the stator.
The relative advantages and/or disadvantages of a brush type motor/amplifier
combination vs. a brushless motor/amplifier combination can be significant. On the next
page is a summary of advantages and disadvantages of brush type motor/amplifiers and
brushless type motor/amplifiers to help you decide which type to select for your applications.

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CHAPTER 2: THEORY OF OPERATION
Brushless Motors/Amplifiers Brushed Motors/Amplifiers
Advantages Disadvantages
No scheduled maintenance and no brush dust
is generated. Motor brushes must be checked periodically for wear and excess brush dust.
Higher RPM limits. Approximately 3000RPM maximum.
Lower inertia/torque ratio. Higher inertia to torque ratio.
Dissipates heat more efficiently due to windings
being located in stator. Not as efficient at dissipating heat. Heat is trapped at rotor and shortens bearing life.
Safer for explosive atmospheres. Quieter and
less electrical noise generated. Brushes spark and generate electrical and audible noise.
Disadvantages Advantages
Amplifiers are complicated and expensive. Amplifiers are simpler and less expensive.
Higher torque ripple. Lower torque ripple.
No Industry standard packaging. Industry standard packaging.
2.5 Operation of Output Switching Transistors:
The output transistors, for all intents and purposes, operate in only two states. They are
analogous to ON/OFF switches. When an output transistor is OFF , there is no current
flowing through it (its resistance is infinite). When an output transistor is ON, current flows
through it (its resistance is near zero). When the transistor is ON, it is technically referred to
as being in saturation.
2.6 “H”Type Output Bridge Configuration:
The output configuration of the amplifier is an “H TYPE”bridge (see figure 2.4 for
schematic representation of an output bridge with a motor connected).
Figure 2.4
Schematic representation of
an output bridge with a
motor connected.
The advantage of an “H TYPE”output bridge configuration is that by controlling the
switching of the opposite pairs of transistors, current can be made to flow through the motor
in either direction using a single-polarity power supply.
To provide motor current in one direction, transistor A and C are turned ON, while B and
D remain in the OFF state. To provide motor current in the other direction, B and D are
turned ON, while A and C remain in the OFF state.

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SMA7215 MANUAL
2.7 Pulse-Width-Modulation (PWM):
Pulse-width-modulation is the technique used for switching opposite pairs of output
transistors ON and OFF to control the motor drive current. When zero current is commanded
to the current loop, the opposite pairs of transistor are turned ON and OFF as shown in figure
2.5. Note that since the pulse widths are equal, the net DC current in the motor is equal to
zero.
When a non-zero current is commanded to the current loop, the transistor switching
waveform is as shown in figure 2.6A. Since there is a non-zero current command, the output
transistor pulse widths will change and the motor will see a net DC current flowing from A
through C.
Figure 2.5
Transistor switching
waveform at zero
current
Figure 2.6A
Transistor switching
waveform when current
flows from A through C
If the input to the current loop had been changed in polarity, the output transistor
switching waveform would be as shown in figure 2.6B.
Figure 2.6B
Transistor switching
waveform when current
flows from B through D
If a larger current of the same polarity was commanded to the output transistor (see
figure 2.6B) the ON-time widths of B and D would automatically increase to provide more
current.
From the previous examples it is easy to understand why this output transistor switching
technique is referred to as pulse-width-modulation.
To change the magnitude and polarity of the current flow in the motor, the pulse widths of
the opposite pairs of transistors are modulated. The frequency at which these output
transistors are switched ON and OFF is referred to as the ‘carrier frequency’.

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CHAPTER 2: THEORY OF OPERATION
Now that we have a good understanding of how the current is provided from an “H TYPE”
pulse-width-modulated (PWM) bridge, let’s analyze the operation of the current loop.
2.8 Current Loop Operation:
Please refer to figure 2.2A for a diagram of the current loop. In control electronics the
symbol Sigma (with the circle around it) is referred to as a ‘summing junction’. The manner
in which this summing junction operates is as follows:
The current-command signal (also referred to as the velocity error signal when received
from the output of the velocity loop, as shown in figure 2.2A) is added to the current feedback
signal. The signal resulting from this addition, is referred to as the “current error”signal. This
current-error signal is fed into the current amplifier, which in turn produces a current in the
motor. A voltage which is proportional to the motor current is developed across Rs (shunt
resistor). This voltage is referred to as the “current feedback”signal. The current in the
motor increases until the current-command signal. At this point the current error signal drops
to zero. and the actual current is equal to the commanded current. If anything happens to
disturb either the current command signal, or the current feedback signal, the same process
occurs again until the current feedback signal is equal in magnitude to the current command
signal, but opposite in polarity.
The type of loop described above is referred to as a “servo loop”because the current
servos about a commanded value.
We are surrounded in our everyday lives by a multitude of servo loops. For example,
many of today’s luxury cars have what is called ‘automatic climate control’. To operate this
servo loop, you set the climate control to the temperature that you wish to be maintained in
the interior of the car (current command signal). The selected temperature is then summed
with the actual temperature from a thermometer (current feedback), and the output (current
error signal) activates either the heater or the air conditioner until the actual temperature as
measured by the thermometer (current feedback signal) is equal in magnitude, but opposite
in polarity, to the set temperature.
2.9 Velocity Loop Operation:
Please refer to figure2.2A for a diagram of a typical velocity loop. The velocity loop’s
operational description is analogous to the current loop description, except for the fact that
the input signal is called the Velocity Command and the feedback signal from the DC
tachometer is called the Velocity Feedback.
2.10 Protection Circuits:
The High and Low Speed Electronic Circuit Breakers(HS/ECB and LS/ECB) protect the
amplifier and motor from being damaged by high motor current(specified max. peak and rms
current values). The Over Temperature and Over Voltage detection circuits will shut off the
amplifier when the temperature of the amplifier or the buss(B+) voltage exceeds a specified
limit. Also, there are circuits which limit the motor from running in either or both directions.

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SMA7215 MANUAL
SMA7215XX - YYY - QQQ - 1
Amplifier Model Number Single Module
Power Rating Optional Custom
Omit = Standard Configuration Code
HP = High Power (A numerical code will be
assigned by Glentek to
Amplifier Configuration Code amplifiers whose specifications
vary from the standard
configuration.)
Amplifier Configuration Code
Chapter Three: Model Numbering
3.1 How to order:
The model numbering system is designed so that you, our customer will be able to create the
correct model number of the product that you need as quick and as accurately as possible.
Differential or Single-ended
Signal Inputs:
0 = Single; (Default)
1 = Differential;
Velocity or Current Mode:
(see section 2.8 and 2.9)
0 = Velocity; 1 = Current,
On Board Power Supply
+15V/+5V on pull-up:
0 = +15V; (Default)
1 = +5V;
DC Buss Voltage
0 = 24-220VDC;(Default)
1 = SPECIAL;
±Limit 0=L, 1=H
±Limit 0=U, 1=D
Clamp 0=L, 1=H
Clamp 0=U, 1=D
Reset 0=L, 1=H
Reset 0=U, 1=D
↑See section 5.2 ↑
Type A: U=0 & L=0
(Default)
Type B: D=1 & H=1
Type C: U=0 & H=1
Type D: D=1 & L=0
0 0
4-BIT Binary
to Digital
Conversion Table
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

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Chapter Four: Installation
4.1 Introduction:
This chapter provides the necessary information to make all the wiring connections for
the amplifiers to operate properly.
4.2 Mounting:
Appendix contains all the assembly drawings, and mechanical information necessary to
install the amplifiers. The amplifier package should be mounted in a clean, dry enclosure, free
of dust, oil, or other contaminants.
NEVER INSTALL THE AMPLIFIER PACKAGE IN ANY LOCATION
WHERE FLAMMABLE OR EXPLOSIVE VAPORS ARE PRESENT.
IMPORTANT: At least 3 inches must be allowed between the cooling fans and any other
surface. The clearance to any other side of the amplifier package is not critical, although
sufficient space should be allowed for easy wiring and servicing.
4.3 Wiring:
DO NOT APPLY POWER UNTIL INSTRUCTED TO DO SO.
4.3.1 RFI/EMI and Wiring Technique:
IMPORTANT: All PWM equipment inherently generates radio-frequency
interference (RFI), and wiring acts as antennae to transmit this interference. In addition,
motors inherently generate electromagnetic interference (EMI). Unless the wiring is very
short, some sort of shielding on the motor wires is necessary to meet FCC RFI/EMI
guidelines and to protect other equipment from the effects of RFI/EMI. We recommend
that shielded wire be used, or the wires should be run in metallic conduit. The shield or
conduit should be connected to the amplifier baseplate, which in turn must be earth
grounded. In addition, a conductor of the same gauge as the motor wires must be
connected from the motor case to the amplifier baseplate to provide protection from
shock hazard. The earth grounding is necessary to meet National Electrical Code (NEC)
requirements as well as suppressing RFI/EMI.
Additional RFI suppression may be obtained by placing inductors in each motor
lead near the amplifier. Consult a Glentek applications engineer for inductor
recommendations. Glentek stocks a complete line of inductors for virtually every
application.
IMPORTANT: The signal wiring to tachometer (if used) and the signal inputs to
the amplifier are susceptible to noise pickup. Excessive noise pickup will cause erratic
amplifier operation. We urge that each signal input line each be run in separate,
twisted-pair, shielded cable. In each case the shield should be terminated at the amplifier
end only to a common terminal. We also recommend that the signal lines be kept as far
as possible from any power or motor wires.
CHAPTER 4: INSTALLATION

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SMA7215 MANUAL
4.3.2 Wire Size and Type:
IMPORTANT: To ensure safe operation, Glentek strongly recommends that all wiring
conform to all local and national codes.
Recommended Wire Size and Type:
• Motor Wires: 14AWG, shielded - Standard Version.
12AWG, shielded - High Power Version.
• Motor Case Ground: Same as motor wires, or use metallic conduit.
• Main Power: 14AWG, twisted.
• Fan Power: 16AWG, twisted.
• Signal & Tach Input: 22AWG, twisted-pair, shielded.
• Logic Inputs/Outputs: 22AWG, shielded with its return lead.
4.3.3 Connector Size and Type:
4.3.3.1 The Power Connector - TB1:
All amplifiers are shipped with the right angle AUGAT terminal block mounted as it
power connector . The vertical angle AUGAT terminal block and the PHOENIX connector
are two options one can choose to use for the power connector. The specifications of all
the mentioned connectors are listed as follows:
• AUGAT®RDI 6 Series Tri-Barrier Terminal Blocks(AUGAT P/N: 6PCR-04) - Default
:
- Screw Size/Spacing: 6 (#6-32 on .375" centers).
- Terminal Style: PC (Printed Circuit Pin).
- Terminal Orientation: R (Right Angle).
- Number of Screw Terminals: 04 (4 screw positions).
- Terminal lugs: Thomas & Betts (T&B P/N: A116 for 18awg wire, B19 for
14awg wire and C133 for 12/10awg wire).
• AUGAT®RDI 6 Series Tri-Barrier Terminal Blocks(AUGAT P/N: 6PCV-04):
- Screw Size/Spacing: 6 (#6-32 on .375" centers).
- Terminal Style: PC (Printed Circuit Pin).
- Terminal Orientation: V (Vertical Angle).
- Number of Screw Terminals: 04 (4 screw positions).
- Terminal lugs: Thomas & Betts (T&B P/N: A116 for 18awg wire, B19 for
14awg wire and C133 for 12/10awg wire).
• PHOENIX CONTACT, COMBICON Headers and Plugs with 7.62mm pitch
(HEADER PART# GMSTBA 2,5/4-G-7,62),
(PLUG PART# GMVSTBR 2,5/4-ST-7,62):
- header with side panels, plug-in direction parallel to PCB.
- 4 positions.
- color: green.

GLENTEK Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone] 18
CHAPTER 4: INSTALLATION
4.3.3.2 The Signal Connector - J1:
The signal connector is supported by the molex®KK .100" (2,54mm) Centerline
Connector System.
• Mating Header: molex®7478 Series Right Angle Square Pin Friction Lock
Header (molex P/N: 22-12-2164):
- 16 pins.
- .025" (0,64mm) right angle square brass pins.
- 94V-0 nylon housing.
• Mating Connector: molex®2695 Series .100" (2,54mm) Center Crimp Terminal
Housing (molex P/N: 22-01-3167):
- red nylon housing.
- 16 positions.
- with polarizing rib.
• Crimp Terminals: molex®Crimp Terminals (molex P/N: 08-55-0102):
- 15 microinch select gold plated.
- brass.
4.3.4 Amplifier Connections:
4.3.4.1 The Power Connections - TB1:
Signal Name Terminal Notes
BUS RETURN,
B- TB1-1 DC Buss -
BUSS, B+ TB1-2 DC Buss +
MOTOR - TB1-3 Motor -
MOTOR + TB1-4 Motor +
4.3.4.2 The Signal Connections - J1:
Signal Name Terminal Notes
DIFF SIG IN (+) J1-1 Differential signal input, NOT USED.
DIFF SIG RET (-) J1-2 Differential signal return, NOT USED.
SIG IN (+) J1-3 Single-ended signal.
COMMON J1-4 Common for all signals and shields.
TACH IN J1-5 Tachometer Input. Not used in current-mode operation.

19 GLENTEK Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone]
SMA7215 MANUAL
Signal Name Terminal Notes
MTR CUR J1-6 Scale factor: 1V=5A.
LIMIT + J1-7 Inhibits the motor in the +direction.
LIMIT - J1-8 Inhibits the motor in the -direction.
CLAMP J1-9 Brakes the motor and go into inhibit after a period of 100m
seconds.
FAULT J1-10 Goes low if there is a fault in the amplifier. May be
externally forced low to stop motor rotation in both
directions.
COMMON J1-11 Common for all signals and shields.
RESET J1-12 Resets the fault latch. May also be used as an inhibit input.
LS/ECB J1-13 Goes high if the Low Speed Electronic Circuit Breaker
turns on.
HS/ECB J1-14 Goes high if the High-Speed Electronic Circuit
Breaker turns on.
OVERVOLT J1-15 Goes high if the buss voltage rises above 250VDC.
OVERTEMP J1-16 Goes high if the temperature of the amplifier and motor
rises above the specified temp.
4.3.5 Test Point - J2:
Signal Name Terminal Notes
COMMON J2-1 Common for all signals and shields.
SIG J2-2 Single-ended signal input.
TACH J2-3 Tachometer input. Not used in current-mode operation.
DIFF SIG GAIN J2-4 Differential signal Input gain. NOT USED.
SIG GAIN J2-5 Single-ended signal Input gain.
TACH GAIN J2-6 Tachometer feedback gain.
COMP J2-7 Compensation. Use in conjunction with tachometer gain to
set the system bandwidth.

GLENTEK Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. [phone] 20
Type A Type B Type C Type D
LIMIT+/- S1-4 - OFF
S1-7 - ON S1-4 - ON
S1-7 - OFF S1-4 - OFF S1-7 - OFF S1-4 - ON S1-7 - ON
CLAMP S1-3 - OFF
S1-7 - ON S1-3 - ON
S1-7 - OFF S1-3 - OFF S1-7 - OFF S1-3 - ON S1-7 - ON
RESET S1-2 - OFF
S1-5 - ON S1-2 - ON
S1-5 - OFF S1-2 - OFF S1-5 - OFF S1-2 - ON S1-5 - ON
Chapter Five: Configuration
5.1 Introduction:
Each amplifier has several configuration options. This chapter describes these options
and how to implement them. If desired, Glentek will be happy to pre-configure your amplifiers.
NOTE: Each amplifier is configured and shipped according to the model number
(instructions to construct a model number is in chapter three) when the order is placed. It is
important for the user to realize that any adjustment on the dip-switches by the user will result
in discrepancies between the model number and the actual configuration of the amplifier.
5.2 Logic Input Configuration:
There are three logic inputs: Limit+/-, Clamp and Reset. They may be configured for
active-high or active-low signals, and pulled-up or pulled-down termination (type A, B, C, and
D). All logic inputs have a selectable 0 to +5VDC or 0 to +15VDC range.
Type "A": Requires grounding of input to disable the amplifier (pull-up, active-low).
Type "B": Requires a positive voltage at input to disable the amplifier (pull-down, active-
high).
Type "C": Requires grounding of input to enable the amplifier (pull-up, active-high).
Type "D": Requires a positive voltage at input to enable the amplifier (pull-down, active-
low).
The following table shows the dip switches that need to be configured for the Type A, B,
C, and D configurations. The standard configuration is shown in bold.
5.2.1 +15V/+5V Logic Level Configuration (Default:S1-1=ON):
• +15V: S1-1 = ON; +5V: S1-1 = OFF;
5.2.2 Velocity/Voltage Feedback Mode and Current Mode Configuration:
• Velocity or BEMF Voltage Feedback Mode: S1-9:ON and S1-10:OFF;
• Current Mode: S1-10:ON and S1-9:OFF;
5.2.3 Integrator Configuration (Default:S1-8=OFF):
The integrator switch is turned ON to lower the integration proportional break point in the
velocity PID loop. The lower break point may be required with motors having high inductance
amatures. This switch should remain off unless instructed to turn on.
CHAPTER 5: CONFIGURATION