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    38

Glentek Inc.,  208 Standard Street, El Segundo, California 90245, U.S.A.  (310) 322-3026

CHAPTER 6: START UP AND CALIBRATION

4.

Connect the oscilloscope to ABS I (J1-7), and the battery box to the Signal 2 Signal-
ended Input (J1-3 and J1-4).  The voltage on J1-7 is a function of motor current: 1V=5A.
While pulsing a step input voltage, adjust the Current Limit for the desired peak current.
If the desired peak current cannot be achieved with the pot full CW, increase the input
voltage or increase the Signal 2 Gain (RV3).

5.

With battery box still connected at J1-3 and J1-4 for single-ended input (or if your system
uses the differential input, move battery box to J1-1 and J1-2), set battery box for a
known DC voltage. Apply 

)

input signal pulses and adjust the Signal 2 Gain pot (RV2) or

(RV1 for differential input) to obtain the desired current gain of the amplifier.

6.

If the motor is rotating in the wrong direction for a given input polarity, turn the Loop Gain
pot full CCW. Switch MTR REVERSE (S1-4) from OFF to ON (or vice-versa). Turn the
Loop Gain pot back to full 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 or three bi-polar phase current

command signals input. The amplifier generates three sine wave currents that are
proportional to the input signals. The following pots will be set during calibration:
Note: RV1 to RV4 are 12-turn pots.

Pots

Name of Pot

Note

RV1

PHASE R

Signal gain for phase R input current.

RV2

PHASE S

Signal gain for phase S input current.

RV3

PHASE T

Signal gain for phase T input current.

RV4

I LIMIT

(Current Limit)

Sets maximum motor current.  Shipped
set CW (maximum current limit).

6.5.1 Two Phase Input Current Mode Amplifier Calibration Procedure:

1.

Turn the Current Limit (RV4) to mid position, phase R (RV1) full CCW and phase S
(RV2)  full CCW .

2.

Apply main power and fan power.

3.

Slowly turn phase R and phase S full CW.

4.

Connect the oscilloscope to I Limit (J3-E), and set the current limit for (5A/V) at I LIM
SET (RV4).

5.

Connect the oscilloscope to ABS I (J1-7), and the two phase modulated input
waveform at Phase R+ (J1-1), Phase R- (J1-2) and Phase S+ (J1-3), Phase S-
(J1-4).  Adjust the I LIM SET (RV4) for the desired peak current.

6.

Calibration complete.

Содержание SMA8105

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 48: ...48 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX A AMPLIFIER DRAWINGS...

Страница 49: ...49 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...

Страница 50: ...50 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX A AMPLIFIER DRAWINGS...

Страница 51: ...51 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...

Страница 52: ...52 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX A AMPLIFIER DRAWINGS...

Страница 53: ...53 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...

Страница 54: ...54 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX A AMPLIFIER DRAWINGS...

Страница 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...

Страница 56: ...56 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX B PERSONALITY MODULE...

Страница 57: ...57 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...

Страница 58: ...58 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX B PERSONALITY MODULE...

Страница 59: ...59 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...

Страница 60: ...60 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX B PERSONALITY MODULE...

Страница 61: ...61 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...

Страница 62: ...62 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 APPENDIX B PERSONALITY MODULE...

Страница 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...

Страница 64: ...64 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026...

Страница 65: ...65 Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 SMA8105 SMA8205 and SMA8305 MANUAL...

Страница 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...

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