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OPERATION

SERVICE MANUAL

SMA5005 & SMA5015

H Bridge Linear Servo Drives

Содержание SMA5005

Страница 1: ...OPERATION SERVICE MANUAL SMA5005 SMA5015 H Bridge Linear Servo Drives ...

Страница 2: ...MA5015 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 C...

Страница 3: ...peration 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...

Страница 4: ...MA5005 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 indi...

Страница 5: ...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 po...

Страница 6: ...here 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 moto...

Страница 7: ...ll 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 sta...

Страница 8: ...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 Alon...

Страница 9: ...n 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 ...

Страница 10: ... 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 Veloci...

Страница 11: ...ide appropriate transformers and power supplies Consult a Glentek applications engineer or sales person for assistance A Initial Start Up When applying power to start up your Drive system for the first time we recommend you follow this procedure If you have already gone through this procedure you can skip to the appropriate calibration procedure 1 Check for any loose or damaged components 2 Check ...

Страница 12: ... motor current 1V 2 0A While applying a step input voltage adjust the Current Limit RV5 for desired peak current 7 The purpose of the following procedure is to set the system bandwidth to obtain a critically damped response see figure B or a one hook overshoot response with the maximum possible Tach Gain There are many possible settings of Tach Gain and Compensation which will yield the desired wa...

Страница 13: ... unstable back off the Tach Gain pot CCW a few turns 11 Do not adjust the Tach Gain or Compensation for the rest of the calibration procedure 12 Set battery box for a known DC voltage 10V Adjust the Signal Gain pot RV1 and set the ratio based on the desired motor velocity 13 Calibration complete 14 Now connect the computer control CNC If the motor is rotating in the wrong direction for a given inp...

Страница 14: ...cope ground to Controller I O pin 13 14 or 15 SIGNAL GND Connect battery box to Controller I O pin 1 SIGNAL and Controller I O pin 2 SIGNAL The voltage on Controller I O pin 7 is a function of motor current 1V 2 0A 4 To set the current limit at some value less than the maximum apply a large step command and observe peak above desired peak current Turn current limit pot CCW until peak current is re...

Страница 15: ...r parameters operating voltage and desired current loop bandwidth are required upon ordering The only user tunable parameter is balance current offset PROCEDURE 1 Apply main power and fan power Visually confirm a green LED Depending on the configuration of the Inhibit and Reset pins it may be necessary to make appropriate connections to those terminals before the Drive will be enabled and energize...

Страница 16: ...ge before taking measurements Note The balance pot should not be measured in this fashion set per step 3 in the calibration procedure Note Tach voltage is measured at Controller I O pin 3 Common for all measurements is at Controller I O pin 4 Date data taken Serial number S N _________________________________ Model number SMA5005_________________________ Note any changes to components or any speci...

Страница 17: ... measuring voltage at TP6 The ratio is 1V 6A 7 The purpose of the following procedure is to set the system bandwidth to obtain a critically damped response see figure C or a one hook overshoot response with the maximum possible Tach Gain There are many possible settings of Tach Gain and Compensation which will yield the desired waveform The optimum setting will occur when Tach Gain is as CW as pos...

Страница 18: ...overshoot If the desired waveform cannot be obtained by adjusting the Compensation pot before the motor becomes unstable back off the Tach Gain pot CCW a few turns 11 Do not adjust the Tach Gain or Compensation for the rest of the calibration procedure 12 Set battery box for a known DC voltage 10V Adjust the AUX Gain RV1 pot for differential Gain or SIG Gain RV2 for single ended input to set the r...

Страница 19: ...ain is desired monitor voltage across J1 1 AUX INPUT to J1 2 AUX RETURN If SIG Gain is desired monitor voltage across J1 3 SIG INPUT to J1 4 SIG COM To set the desired signal to current ratio for AUX Gain adjust the RV1 differential signal pot and for SIG Gain adjust the RV2 single ended signal pot Apply a step command of 3 4 volts Observe commanded motor scale is 10A V and set the desired signal ...

Страница 20: ...e before taking measurements Note The balance pot should not be measured in this fashion set per step 3 in the calibration procedure Note Tach voltage is measured at J1 5 Common for all measurements is at J1 4 Date data taken Serial number S N _________________________________ Model number SMA5015_________________________ Note any changes to components or any special features in the space below Po...

Страница 21: ...VIEW TABLE OF CONTENTS MANUAL 5005 2040 000 F UPDATED 6 1 2021 glentek com 21 APPENDIX ...

Страница 22: ...SMA5005 SMA5015 MANUAL VIEW TABLE OF CONTENTS 22 glentek com MANUAL 5005 2040 000 F UPDATED 6 1 2021 THIS PAGE IS INTENTIONALLY LEFT BLANK ...

Страница 23: ...FROM GLENTEK INC UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN INCHES A INITIAL DRAWING RELEASE 3416 5JAN11 M TAGUPA C V INSTALLATION SMA5015 1A 1 5015 1034 000 5015 1034 000 C DWG SMA5015 1A 1 C M TAGUPA 5JAN11 C V 5JAN11 J M 5JAN11 875 1 1 3 0 01 0 005 0 5 NOTES 1 INPUT IS NOT ISOLATED FROM OUTPUT 2 DRIVE IS A H BRIDGE DESIGN 3 IT MAY BE NECESSARY TO ISOLATE INPUT SIGNAL IF INPUT POWER IS NOT ISO...

Страница 24: ...EN PERMISSION FROM GLENTEK INC UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN INCHES SMA5015 1A 1 SCHEMATIC DIAGRAM 5015 1034 000 5015 1034 000 C DWG SMA5015 1A 1 C M TAGUPA 5JAN11 C V 5JAN11 J M 5JAN11 625 1 2 3 0 01 0 005 0 5 ELECTRICAL 5015 1034 000 5015 1034 000 C DWG SMA5015 1A 1 C M TAGUPA 5JAN11 C V 5JAN11 J M 5JAN11 625 1 2 3 0 01 0 005 0 5 FUNCTIONAL BLOCK 5015 1034 000 5015 1034 000 C DWG ...

Страница 25: ...T WAS ORIGINATED BY AND IS THE EXCLUSIVE PROPERTY OF GLENTEK INC THIS PROPRIETARY INFORMATION SHALL NOT BE REPRODUCED TRANSFERRED TO OTHER DOCUMENTS DISCLOSED TO OTHERS USED FOR MANUFACTURING OR ANY OTHER PURPOSE WITHOUT PRIOR WRITTEN PERMISSION FROM GLENTEK INC UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN INCHES SMA5015 1A 1 SCHEMATIC INSTALLATION POWER SUPPLY 5015 1034 000 5015 1034 000 C DWG SM...

Страница 26: ...SMA5005 SMA5015 MANUAL VIEW TABLE OF CONTENTS 26 glentek com MANUAL 5005 2040 000 F UPDATED 6 1 2021 SMA5015 Printed Circuit Board Assembly Drive ...

Страница 27: ...SMA5005 SMA5015 MANUAL VIEW TABLE OF CONTENTS MANUAL 5005 2040 000 F UPDATED 6 1 2021 glentek com 27 SMA5015 Printed Circuit Board Assembly Power Supply ...

Страница 28: ...CO 4219 10OCT16 NTHALLA L P Bussman P N BK AGC 10 Glentek P N EJ741V05 Phoenix P N 1792786 Mating Connectors 10A FAST Glentek P N EF080010 Glentek P N EJ041M15 Molex P N 22 12 2154 7478 DC Input Motor Output DC Input BUS Fuse F2 Controller I O Fuse Table Ground Fuse F1 1A FAST Glentek P N EF080001 Bussman P N BK AGC 1 Pulled up to 5VDC Internal Pull Up Level Dedicated Fault Output Optically Isolat...

Страница 29: ...onfigured for active high or active low signals and pulled up or pulled down termination Type A B C and D Type A Requires grounding of inputs to activate the function pull up active low Type B Requires a positive voltage at input to activate the function pull down active high Type C Requires grounding of input to deactivate the function pull up active high Type D Requires a positive voltage at inp...

Страница 30: ...E CONFIGURATION CODE DRAWING NUMBER MODEL REV REVISION HISTORY ZONE REV DESCRIPTION APPD ECO CHANGED DATE THE INFORMATION CONTAINED WITHIN THIS DOCUMENT WAS ORIGINATED BY AND IS THE EXCLUSIVE PROPERTY OF GLENTEK INC THIS PROPRIETARY INFORMATION SHALL NOT BE REPRODUCED TRANSFERRED TO OTHER DOCUMENTS DISCLOSED TO OTHERS USED FOR MANUFACTURING OR ANY OTHER PURPOSE WITHOUT PRIOR WRITTEN PERMISSION FRO...

Страница 31: ...SMA5005 SMA5015 MANUAL VIEW TABLE OF CONTENTS MANUAL 5005 2040 000 F UPDATED 6 1 2021 glentek com 31 SMA5005 Printed Circuit Board Assembly Drive ...

Страница 32: ...LED RAYCHEM P N TS250 130 Check Output mating connector J3 40 C to 80 C 5 to 95 non condensing 0 C to 55 C Latched condition Amplifier over temperature LS ECB HS ECB Red Fault LED Amplifier enabled normal operating condition Amplifier disabled non latched condition External inhibited Red Inhibit LED heat sink temperature reaches 75 C Breaker LS ECB Input Command Signal Gain Humidity Storage Temper...

Страница 33: ... 000 5005 2035 000 B DWG SMA5005 2A 2 B NTHALLA 27DEC11 L L 27DEC11 J M 27DEC11 1 125 1 1 1 0 01 0 005 0 5 1 AC POWER INPUT IS APPLIED TO AC_1 AC_2 SINGLE PHASE OR AC_1 AC_2 AC_3 THREE PHASES OF POWER INPUT CONNECTOR FAN POWER IS SINGLE PHASE ONLY 2 RECOMMEND SIGNAL WIRING TO MOLEX SOCKET CONNECTOR 22AWG 0 326 MM OR 24AWG 0 205 MM USE CRIMPING TOOL MOLEX ORDER NO 11 01 0185 CR2262C 3 USE SHIELDED ...

Страница 34: ...ATION SMA5005 4A 4 5005 2036 000 5005 2036 000 B DWG SMA5005 4A 4 B NTHALLA 27DEC11 L L 27DEC11 J M 27DEC11 1 1 1 1 0 01 0 005 0 5 1 AC POWER INPUT IS APPLIED TO AC_1 AC_2 SINGLE PHASE OR AC_1 AC_2 AC_3 THREE PHASES OF POWER INPUT CONNECTOR FAN POWER IS SINGLE PHASE ONLY 2 RECOMMEND SIGNAL WIRING TO MOLEX SOCKET CONNECTOR 22AWG 0 326 MM OR 24AWG 0 205 MM USE CRIMPING TOOL MOLEX ORDER NO 11 01 0185...

Страница 35: ...SMA5005 SMA5015 MANUAL VIEW TABLE OF CONTENTS MANUAL 5005 2040 000 F UPDATED 6 1 2021 glentek com 35 T657TB Power Transformer ...

Страница 36: ...SMA5005 SMA5015 MANUAL VIEW TABLE OF CONTENTS 36 glentek com MANUAL 5005 2040 000 F UPDATED 6 1 2021 T693TB Power Transformer ...

Страница 37: ...ropean Union legally requires a specific level of EMC Since this applies when the equipment is brought into use it is of considerable importance that a drive system as a component of a machine be correctly installed EMI Source Victim Model shows the commonly used EMI model The model consists of an EMI source a coupling mechanism and an EMI victim A device such as servo drives and computers which c...

Страница 38: ...l not be required unless other sensitive circuits are powered off the same AC branch circuit Note Common mode noise is present on all conductors that are referenced to ground Differential mode noise is present on one conductor referenced to another conductor The use of properly matched AC line filters to reduce the conducted EMI emitting from the drive is essential in most cases This allows nearby...

Страница 39: ...tput This will reduce emission coupling through the drive back to the AC line However the motor cable still carries a large HF voltage and current Therefore it is very important to segregate the motor cable from the AC power cable More information on cable shielding and segregation is contained in the section on shielding Grounding High frequency HF grounding is different from safety grounding A l...

Страница 40: ...ng for the environment in which it is installed For this reason the enclosure must provide the necessary degree of protection An IP rating or Nema rating which is similar to IP specifies the degree of protection that an enclosure provides The primary propagation route for EMI emissions from a drive is through cabling The cables conduct the EMI to other devices and can also radiate the EMI For this...

Страница 41: ...h or parallel runs between other circuit cables and the motor or power cable should be minimized A rule of thumb is 300 mm 1 ft of separation for each 10 m 30 ft of parallel run The 300 mm 1 ft separation can be reduced if the parallel run is less than 1 m 3 ft 5 Cable intersections should always occur at right angles to minimize magnetic coupling 6 The encoder mounted on the brushless servomotor ...

Страница 42: ...ed with other machinery to constitute machinery covered by directive 89 392 EEC as amended 3 As such do therefore not in every respect comply with the provisions of directive 89 392 EEC SAFETY STANDARDS EN60204 1 IEC204 1 Electrical Equipment of Industrial Machines Collateral Test Standards Specified by EN60204 1 EN61000 6 4 2001 EMC Emission standard for industrial environments EN61000 6 2 2001 E...

Страница 43: ... 28KW Analog Brushless Servo Drives Linear Brushless servo Drives to 3 5KW PWM Pulse Width Modulated Brushless servo Drives to 51KW Permanent Magnet DC Brush Type Servo Motors Continuous Torques to 335 in lb Peak Torques to 2100 in lb Permanent Magnet DC Brushless Servo Motors Continuous Torques to 1100 in lb Peak Torques to 2200 in lb 208 Standard Street El Segundo California 90245 USA Telephone ...

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