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Glentek Inc., 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026
SMA8105, SMA8205, and SMA8305 MANUAL
Page 1: ...Street El Segundo California 90245 U S A 310 322 3026 OPERATION SERVICE MANUAL for Torque Switch Series Model SMA8105 Model SMA8205 Model SMA8305 Brushless Amplifier System MANUAL 8005 1040 REVISION A...
Page 2: ...puts 10 1 3 1 4 System 11 1 3 1 5 Outputs 11 1 3 2 Multi Axis Power Supply 11 1 3 2 1 Input and Output Power 11 1 3 3 Mechanical 11 Chapter Two Theory of Operation 2 1 Introduction 12 2 2 Driving DC S...
Page 3: ...er Connector J2 of Main Amplifier 23 4 3 3 2 The Signal Connector 24 4 4 Single Amplifier Module Connections SMA8X05 1 25 27 4 4 1 Buss and Motor Connections J2 25 4 4 2 Signal Connections for the Tra...
Page 4: ...tandard Configuration 32 Chapter Six Start Up and Calibration 6 1 Introduction 33 6 2 Initial Start Up 33 6 3 Trapezoidal Mode Amplifier Calibration 33 35 6 3 1 Velocity and Simulated Velocity Mode Ca...
Page 5: ...pezoidal Single Amplifier Module Installation 8005 1032 50 SMA8205 1 Sine Resolver Single Amplifier Module Installation 8005 1033 51 SMA8305 1 Two Three Phase Single Amplifier Module Installation 8005...
Page 6: ...e economy of trapezoidal drive current or the high performance of sinusoidal motor current with the efficiency of pulse width modulation PWM We suggest that you take the time to read this manual from...
Page 7: ...em for medium to high velocity applications Please see section 2 6 of this manual for more detailed information CURRENT MODE In this mode of operation which is also commonly referred to as torque mode...
Page 8: ...isolation from input to output Dual signal inputs Two single ended or one differential Both single ended inputs may be used simultaneously All inputs have up to 15 000 A V gain and all inputs will ac...
Page 9: ...lifier in the event of a short across Circuit Breaker the motor leads or a ground fault condition HS ECB i e amplifier exceeds 40A for 10 microseconds Low Speed Electronic Shuts down the amplifier if...
Page 10: ...le s require 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 spe...
Page 11: ...impedance a high input impedance meter must be used 1M volt Maximum Tachometer output voltage for 12 bit 1 5V KRPM 14 bit 2V KRPM Encoder outputs Standard TTL levels with 20mA sink or source capabili...
Page 12: ...ce 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 th...
Page 13: ...t 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 differen...
Page 14: ...hich 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...
Page 15: ...ch case there are actually three different waveforms Each waveform drives a motor winding and is 120 o out of phase with the other two Again the waveform may be generated from a DC source by linear or...
Page 16: ...voltage If an RPM is commanded above 100 RPM the servo will run away To prevent this from occuring the absolute value of the PSEUDO TACH signal is compared to a 95 of full RPM reference If the PSEUDO...
Page 17: ...uency of the clock is then converted into the tach DC voltage signal using the Frequency to Voltage converter 2 9 Commutation Using Resolver The Resolver to Digital converter in the SMA8205 generates...
Page 18: ...cifications vary from the standard configuration Pre amp Configuration Code Differential or Single ended input 0 Single ended Default 1 Differential Velocity or Current Mode 0 Velocity 1 Current see s...
Page 19: ...entek to amplifiers whose specifications vary from the standard configuration Pre amp Configuration Code Limit 0 L 1 H Limit 0 U 1 D Inhibit 0 L 1 H Inhibit 0 U 1 D Reset 0 L 1 H Reset 0 U 1 D 15V 5V...
Page 20: ...hase Input Current 0 2 Phase Default 1 3 Phase see section 2 9 Inhibit 0 L 1 H see section 5 2 Inhibit 0 U 1 D see section 5 2 Reset 0 L 1 H see section 5 2 Reset 0 U 1 D see section 5 2 On Board Powe...
Page 21: ...d on the baseplate Second type of amplifier module on baseplate Maximum number of amplifier modules the baseplate will Number of this type of amplifier module s used hold 2 2 axis baseplate 4 4 axis b...
Page 22: ...ecessary 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...
Page 23: ...AT 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 th...
Page 24: ...Center Crimp Terminal Housing P N 22 01 3157 red nylon housing 15 positions with polarizing rib J4 of the Trapezoidal Pre amp Mating Connector molex 2695 Series P N 22 01 3107 J4 and J5 of the Sine Re...
Page 25: ...ended signal 2 in COMMON J1 4 Single common TACH OUT J1 5 DC output proportional to RPM COMMON J1 6 Tachometer common ABS I J1 7 Absolute value of the motor current 5A V LIMIT J1 8 Inhibits the motor...
Page 26: ...J1 12 Digital common RESET IN J1 13 Resets fault latch MTR TEMP J1 14 Motor over temperature switch input N C J1 15 No connection 4 4 3 Signal Connections for the Two Three Phase Current Mode Amplifi...
Page 27: ...es Encoder Output J4 A J4 A Phase A signal output A J4 B Negative phase A signal output B J4 C Phase B signal output B J4 D Negative phase B signal output Z J4 E Phase Z signal output Z J4 F Negative...
Page 28: ...The motor temp may be configured for active high or active low signals and is always pulled up type A and C All five logic inputs have a selectable 0 to 5VDC or 0 to 15VDC range Type A Requires ground...
Page 29: ...n the velocity Proportional Integral Derivative 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 by...
Page 30: ...oles High Speed Applications S2 1 OFF MAX RPM at 51000 number of motor poles 5 4 Sine Resolver Mode Amplifier Configuration The following table shows the dip switches that need to be configured for th...
Page 31: ...ON 12 OFF ON 15 600 0 5 1250 101 8000 1216 ON ON 14 ON OFF 3 900 2 2500 110 8000 1217 ON ON 14 ON OFF 3 900 2 5 4 3 Encoder Output Resolution Configuration Refer to Appendix B drawing 8000 1430 and 80...
Page 32: ...hes for the correct number of poles 5 5 Two Three Phase Input Current Mode Amplifier Configuration The following table shows the dip switches that need to be configured for the Type A B C and D config...
Page 33: ...fully CCW 6 Remove input fuses on the baseplate and apply main power Check for the correct AC voltage at fuse block The DC Bus amplifier supply voltage will be 1 4 times this value If voltage is corre...
Page 34: ...ltage at J1 7 is a function of motor current 1V 5A for SMA8X05 While applying a step input voltage adjust the Current Limit RV6 for the desired peak current If the desired peak current cannot be achie...
Page 35: ...analog bi polar input command which is proportional to the required motor current motor torque 1 Turn the current limit RV6 to mid position and the Loop Gain RV7 full CCW 2 Apply main power and fan po...
Page 36: ...e battery box to Signal 2 Input The voltage at J1 7 is a function of motor current 1V 5A for SMA8X05 While applying a step input voltage adjust the Current Limit RV7 for the desired peak current If th...
Page 37: ...CCW until the waveform is critically damped or one hook overshoot Then proceed to step 10 9 If the desired waveform cannot be obtained by adjusting the Compensation pot back off CCW the Tach Gain pot...
Page 38: ...CW 7 Remove battery box and repeat step 3 8 Calibration complete Reconnect single wires 6 5 Two Three Phase Current Mode Amplifier Calibration The amplifier in this configuration receives either two...
Page 39: ...CCW phase S RV2 full CCW and phase T RV3 full CCW 2 Apply main power and fan power 3 Slowly turn phase R RV1 phase S RV2 and phase T RV3 full CW 4 Connect the oscilloscope to I Limit J3 E and set the...
Page 40: ...2 4 8205 S1 3 8305 RESET ACTIVE HI LOW S1 3 8105 S2 3 8205 S1 2 8305 MTR TEMP ACTIVE HI LOW S1 2 8105 S2 2 8205 S1 1 8305 15 5 S1 1 8105 S2 1 8205 S1 6 8305 6 6 Calibration Setup Record It is good pra...
Page 41: ...fers to the arc length the motor will rotate when one complete sine wave is applied Therefore a four pole motor has two electrical revolutions and requires two sine waves to make one mechanical shaft...
Page 42: ...ional to the alignment error 7 Slowly rotate the resolver CW or CCW until the index LED is constantly illuminated Tighten the resolver mounting screws the LED should still be on 8 Turn the power off 9...
Page 43: ...causes A FAULT CAN ONLY BE CAUSED BY ABNORMAL CONDITIONS LOCATE AND CORRECT THE CAUSE OF THE FAULT BEFORE REPEATED RECYCLING OF POWER TO THE AMPLIFIER TO PREVENT POSSIBLE DAMAGE 7 2 1 Table of Fault...
Page 44: ...s too high 2 Binding or stalling of motor shaft due to excessive mechanical overload 3 Motor rating too small for the load 7 2 4 High Speed Electronic Circuit Breaker HS ECB Fault When the peak output...
Page 45: ...list of possible causes 1 Main AC line voltage is too high 2 Decelerating a large inertial load When decelerating a DC motor acts as a generator If the inertial load is large the generated voltage ca...
Page 46: ...s in the plant of the original purchaser thereof proves defective in material or workmanship within one year from the date of shipment by us as determined by an inspection by us will be repaired or re...
Page 47: ...47 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL Appendix A Amplifier Drawings...
Page 48: ...48 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX A AMPLIFIER DRAWINGS...
Page 49: ...49 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...
Page 50: ...50 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX A AMPLIFIER DRAWINGS...
Page 51: ...51 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...
Page 52: ...52 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX A AMPLIFIER DRAWINGS...
Page 53: ...53 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...
Page 54: ...54 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX A AMPLIFIER DRAWINGS...
Page 55: ...55 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL Appendix B Personality Module...
Page 56: ...56 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX B PERSONALITY MODULE...
Page 57: ...57 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...
Page 58: ...58 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX B PERSONALITY MODULE...
Page 59: ...59 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...
Page 60: ...60 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX B PERSONALITY MODULE...
Page 61: ...61 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...
Page 62: ...62 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX B PERSONALITY MODULE...
Page 63: ...63 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL Appendix C Custom Configurations...
Page 64: ...64 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026...
Page 65: ...65 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...
Page 66: ...Brushless Servo Amplifiers Linear Brushless servo amplifiers to 2 25KW PWM Pulse width modulated Brushless servo amplifiers to 65KW Permanent Magnet DC Brush Type Servo Motors Continuous Torques to 3...
