OPERATING MANUAL SERIES SMT-100D DIGITAL BRUSHTYPE AMPLIFIER (Version 1.0) European version 1.0 This is a general manual describing a series of digital servo amplifiers having the capability for driving DC Brushtype servo motors. This manual may be used in conjunction with appropriate and referenced drawings pertaining to the various specific models. Maintenance procedures should be attempted only by highly skilled technicians (EN 60204.1 standard) using proper test equipment. Read your warranty provision carefully before attempting to adjust or service the unit.

RECEIVING AND HANDLING Upon delivery of the equipment, inspect the shipping containers and contents for indications of damages incurred in transit. If any of the items specified in the bill of lading are damaged, or the quantity is incorrect, do not accept them until the freight or express agent makes an appropriate notation on your freight bill or express receipt. Claims for loss or damage in shipment must not be deducted from your invoice, nor should payment be withheld pending adjustment of any such claims. Store the equipment in a clean, dry area. It is advisable to leave the equipment in...

OPERATING MANUAL INFRANOR SERIES SMT-100D

1.0.0 GENERAL 1.1.0 Introduction Series SMT-100D servo modules are digital PWM servo amplifiers that provide velocity control for DC brush type motors with or without encoder feedback. The pluggable SMT-100D system is available as multi-axis version that can receive up to six axes in a standard 19" rack. The single axis, four axis or six axis rack includes: - one MP/DR100A power supply unit, - one or several SMT-100D amplifiers (up tpo 6 axis) - one backplane receiving the several axis. The various modules are mechanically mounted into the rack to increase the heat dissipation. The complete system...

The SMT100-I-D amplifier is available with the following ratings: Power supply voltage 40 V < DC bus < 130 V Speed input command +/- 10 V analog input - Resolution: 10 bits. Speed signal BEMF feedback or encoder feedback (line driver). Minimum load inductance 1 mH Logic inputs Logic output Amplifier protections Front panel displays Enable/disable: Enable (negative logic) Limit switches (negative logic) Zero input command (positive logic) Relay contact "Amplifier ready" Power overvoltage No power voltage Power stage overtemperature Software I2t protection Fault LEDs Parameter setting via serial...

2.2.0 Block diagram +UP/-UP Encoder inputs connector X3 +5 V supply Motor voltage monitor Current monitor Analog input command sizing Speed loop Limit switches Encoder output AOK EEPROM Serial interface Current loop Protections processing Power voltage reference "-UP" referenced to the rack.

2.4.0 Main protections Power stage overtemperature (fault is stored) In case of a power stage overheating (T > 90°C), the amplifier will disable the power stage. Overcurrent detection circuit (fault is stored) This circuitry will disable the amplifier as soon as the current exceeds the amplifier max. current (short-circuit at the motor phases). Power voltage monitoring Up DC Bus voltage should be between: 30 V < Up < 170 V : • Overvoltage for Up > 170 V +/-3 V (fault stored), • Undervoltage for Up < 30 V +/-3 V (fault stored). Possibility to disable this monitoring protection by making a jumper...

Fault codes • To reset a stored fault, switch power off . • The ASCII instruction "RZ" allows to reset the faults.

3.2.0 X2 Serial link (Sub-D 15 points male) This connector allows: • Communication via serial link RS485 between amplifier(s) and an ASCII terminal, • Connect the encoder signals with the NC in mode "Speed feedback by encoder signals".

This connector is only used in mode "Speed feedback by encoder signals "

3.5.0 Logic inputs/outputs specification The SM-100/I amplifier has four logic inputs as well as an “amplifier ready” ouput signal. 3.5.1 Zero input command When the “zero input command” is activated, the amplifier receives a zero input command and immediatly stop the motor (except for the offset variation) whatever the speed input command value is. Positive logic input: 15 V < U < 24 V. The response time is about 500 µs. 100k 4.7k 3.5.2 Limit switch inputs If one of the limit switch contacts is activated during operation, the motor speed will be disabled in the direction corresponding to that...

Relay contact AOK opens if any amplifier fault occurs. Note: On the 4 and 6 axes rack, two outputs corresponding to the serial connection of the amplifiers AOK relay contacts allow to process the information "rack failure". This function is described in the wiring diagram of chapter 6.1.4. Note: It is possible to use the “Addressing function” to communicate as a multiaxis system (see appendix chapter 9.1.0) ASCII Terminal Configuration • Communications speed: 4800 bauds (default value)

The SMT-100D amplifier is a digital amplifier. All command parameters are programmable via a serial link and can be saved in an EEPROM. The parameters are sent to the amplifier by an ASCII terminal. Each instruction is coded as 2 ASCII characters with or without parameter(s). These instructions allow to modify or read the value of a variable. When followed by a parameter, the variable corresponding to the instruction will take this value; otherwise, the amplifier will send back the current variable value via the serial link. Each instruction (possibly followed by a parameter) sent to the amplifier...

Scale factor in mode "Speed feedback by encoder resolution" Instruction Parameter Condition Remark SC Can have any hexadecimal value between 0 and FFFF. Instruction taken into account when the software is disabled. The value of this parameter is depending on the motor encoder resolution and the maximum application speed (see appendix "Speed signal mode by encoder resolution"). Gain parameters Proportional speed loop gain Instruction Parameter Condition KP Can have any hexadecimal value between 0 and 7FFF. none Integral speed loop gain Instruction Parameter Condition KI Can have any hexadecimal...