1

Rev 6/98

SSA - Rev 6/98

 2

SSA - SAFETY INSTRUCTIONS

Read this page carefully before installation and use of the instrument, and
follow all instructions in section 6 of Installation Procedures for safe
installation of this product.
INTRODUCTION
The following clauses contain information, cautions and warnings which must be
followed to ensure safe operation and to retain the instrument in a safe
condition.
As this product is intended for incorporation into a machine or end-product,
the end product must comply with all safety aspects of the relevant requirements
of the European Safety of Machinery Directive 89/392/EEC as amended, and with
those of the most recent versions of standards EN60204-1 and EN292-2 at least.
Installation, adjustment, maintenance and repair of the instrument shall be
carried out only by qualified personnel.
WARNINGS
Any removal from the structure or removal of parts, except those to which
access is permitted, is likely to expose live parts and accessible terminals
which can be dangerous to live. If afterwards any adjustment, maintenance or
repair of the opened instrument under voltage is inevitable, it shall be carried
out only by a qualified person who is aware of the hazard involved.
The instrument shall be disconnected from all voltage sources before it is
opened (for service method).
Any interruption of the protective earth conductors inside the instrument, is
likely to make the instrument dangerous.
Components which are important for the safety of the instrument, may only be
renewed by components obtained through Elmo service organization.
Before switching on, ensure that the instrument has been installed in
accordance with the Installation Instructions.
Maximum DC supply according the types described in the operating manual.

SSA - Rev 6/98

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How to use this manual - Flow Chart

The SSA amplifier is designed for OEM applications. It enables the user to
adjust the amplifier for various types of motors and to save valuable adjusting
time in repetitive applications.
Use the following flow chart in order to determine the chapters that you should
read. If you are a new user of the SSA, you should read chapters 1-4 which will
familiarize you with the product.

Read chapters
no
Familiar with the SSA ? 1,2,3,4

no
Using SIB-SSA interface ?

Read chapters 5.1+5.2 Read chapter 5.1

Terminals Terminals

Read chapter 6 - Installation

Read chapter 7.1 - Start-Up

no no
Brush Tacho ? Armature voltage feedback ?

Read (Current mode)

Read
7.2 7.3

Read chapter 8 - Adjustments

Read chapter 9 - Summaries

SSA - Rev 6/98

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TABLE OF CONTENTS

1. DESCRIPTION.......................................................................................................................... 7

2. TYPE DESIGNATION ............................................................................................................... 8

3. TECHNICAL SPECIFICATIONS............................................................................................... 8

4. OPERATION OF THE SERVO CONTROL............................................................................. 10

4.1 Inputs ..............................................................................................................................................................................10

4.2 Velocity mode..................................................................................................................................................................11

4.2.1 Velocity control using armature voltage feedback.......................................................................................................12

4.3 Current mode..................................................................................................................................................................12

4.4 Current loop....................................................................................................................................................................12

4.5 Current limits .................................................................................................................................................................12

4.5.1 Time dependent peak current limit.............................................................................................................................13

4.6 Protective functions.........................................................................................................................................................14

4.6.1 Short circuit protection ..............................................................................................................................................14
4.6.2 Under/Over voltage protection ...................................................................................................................................14
4.6.3 Temperature protection ..............................................................................................................................................14

5. TERMINAL DESCRIPTION .................................................................................................... 17

5.1 Terminals of the basic SSA.............................................................................................................................................17

5.2 Terminals for SIB-SSA...................................................................................................................................................19

6. INSTALLATION PROCEDURES ............................................................................................ 20

6.1 Mounting.........................................................................................................................................................................20

6.2 Wiring .............................................................................................................................................................................20

SSA - Rev 6/98

 5

6.3 Load inductance.............................................................................................................................................................. 21

6.4 DC power supply ............................................................................................................................................................ 21

6.5 Wiring diagrams............................................................................................................................................................. 23

7. START - UP PROCEDURES ..................................................................................................28

7.1 Common procedures for all amplifiers types ................................................................................................................. 28

7.1.1 Inhibit logic ............................................................................................................................................................... 28
7.1.2 Velocity mode............................................................................................................................................................ 30
7.1.3 Current mode............................................................................................................................................................. 30
7.1.4 Static current limits ................................................................................................................................................... 31

7.2 Velocity control using tachogenerator feedback............................................................................................................ 32

7.3 Velocity control using armature voltage feedback......................................................................................................... 32

8. AMPLIFIER ADJUSTMENT AND DIAGNOSTICS ..................................................................34

8.1 Balance adjustment ........................................................................................................................................................ 34

8.2 Verifying the static current limits.................................................................................................................................. 34

8.3 External Current Limit (ECL) adjustment.................................................................................................................... 35

8.4 Adjustment of the IxR compensation ............................................................................................................................. 35

8.5 Response adjustment (Velocity mode only).................................................................................................................... 36

9. TABLES AND SUMMARIES ...................................................................................................38

9.1 Adjusting trimmers......................................................................................................................................................... 38

9.2 LED diagnostics.............................................................................................................................................................. 38

APPENDIX A - RESPONSE ADJUSTMENT - CURRENT LOOP ................................................39

SERVICE CENTERS AND WARRANTY......................................................................................44

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11.. D
Deessccrriippttiioonn
The SSA is a miniature PWM servo amplifier designed for DC servo motors. It
utilizes power MOSFETs which contribute to its high efficiency and compact
design. The SSA is constructed from two PCBs mounted on a heat sink plate. The
lower board contains the power switching transistors which drive the motor,
terminals for the power stage, the switch mode power supply and the protection
logic. The upper PCB contains the control logic, terminals for the control stage,
adjusting trimmers and indication LED's.

Standard features
* Four quadrant operation allows motor acceleration and deceleration under power
in both CW and CCW directions.
* Internal DC to DC converter allows for operation from a single supply.
* Zero deadband.
* Excellent linearity.
* 2 inputs.
* Motor current monitor.
* Inhibit/fault indication (open collector).
* Remote control functions: Inhibit and CW/CCW disable.
* Adjustable compensation.
* Continuous and peak current limits.
* Input balance (offset) adjustment.
* External current limit adjustment.
* Operation in two velocity modes (Tacho or armature voltage feedback) or current
mode.
* LED diagnostics.
* Removable terminals for easy installation and service.

The amplifiers are fully protected against the following faults:

* Under/over voltage.
* Shorts between: outputs, output to ground.
* Excess temperature.

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SIB-SSA
The SIB-SSA is an interface board for the SSA that is used to convert the SSA
flat ribbon connector to spring type Phoenix terminals. This board has the same
size as the SSA board and it can be assembled as an add-on card on top of any SSA
amplifier or as a separate panel mount unit.
The SIB-SSA is connected to the SBA amplifier via a 16 wires ribbon cable.

22.. TTyyppee ddeessiiggnnaattiioonn

SSA - 12 / 55 - 4

SSA amplifier Switching frequency

20KHz when not specified
4=40KHz, 6=60KHZ
Rated current

Maximum rated voltage

33.. TTeecchhnniiccaall ssppeecciiffiiccaattiioonnss

DC Supply Current limits Size Weight

Type Min-Max(V) *** Cont/Peak(A) (mm) Kg
SSA-12/55 10-55 12/30 100x65x30 0.2
SSA-6/100 20-100 6/15 100x65x30 0.2
SSA-8/100 20-100 8/20 100x65x30 0.2
SSA-5/200 40-195 5/10 100X65X30 0.2

* DC output voltage is 90% of DC input voltage.

* 20KHz, 40KHz or 60KHz switching frequency.
* 2KHz current loop response (minimum)

*** These are the absolute minimum-maximum DC supply voltages under any condition.

SSA - Rev 6/98

 8

* Outputs voltages of +13V, (15mA each) for external use.

* Efficiency at rated current - 97%.
* Drift: 10µV/°C (referred to input)
* Operating temperature: 0-50 °C.
* Storage temperature: -10 - +70 °C.

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44.. O
Oppeerraattiioonn ooff tthhee sseerrvvoo ccoonnttrrooll
44..11 IInnppuuttss
The SSA has 2 inputs: A single ended input (no.1) at terminal 1 and a
differential input (no.2) at terminals 3,4.
The current gain of input 1 (current mode) is given by:

66 x Ic
Gc = ----------- (Amp/Volt), R1 in Kohm
100 + R1

Ic - amplifier rated continuous current

The current gain of the differential input for R6=R7 (current mode) is given by:

6.66xIc
Gcd = --------- (Amp/Volt)
R7

R7 in Kohm

The current gain in velocity mode is given by (place the appropriate Gc for
each input):
50 x Gc
Gv = ---------- (Amp/Volt),
R11
R11 in Kohm
The maximum input voltage at terminal 1 is calculated by:
V1max= 8 + 0.08R1 (Volts), R1 in Kohm

The maximum input voltage at terminal 3,4 is calculated by:

Vdmax= 8 + 0.8R6 (Volts), R6=R7 in Kohm

SSA - Rev 6/98

 10

44..22 V
Veelloocciittyy m
mooddee
In this mode op amp U1/2 is employed as a high gain error amplifier. The
amplifier sums velocity command and the tachogenerator feedback signal, and
provides the necessary servo compensation and gain adjustments, resulting in
stable, optimum servo operation. This op amp is configured with two feedback
paths:
One, in the form of a resistive T network, controls the DC gain of this
amplifier. The equivalent value of a T network is given by:
10 10
Rf = ------
R11
Resistor R11 (30 ohm) is mounted in solderless terminals so it can be changed
easily whenever the DC gain of the error amplifier is to be changed.
The second feedback path controls the AC gain by C3 (0.022 µF), R12 (475 Kohm)
and T1. Maximum AC gain is obtained with T1 set fully CW. Setting T1 fully CCW
removes AC gain and no lag in response occurs. R12 and C3 are mounted in
solderless terminals and can be easily replaced in cases when T1 range is not
enough to get optimum response (See 8.5 for details).
The output of the error amplifier is:
1 + SxC3xR12
Vo=(V1Gv1+V2Gv2)x[ ---------------------- ]
1 + SxC3xR12(1 + RfxK1/R12)

V1,V2, - Input signals

Gv1,Gv2- Gain of inputs.
K1 = Position factor of the wiper of T1.
Full CW = 1
Full CCW = 0.01

SSA - Rev 6/98

 11

The feedback element must be connected for negative feedback.

The polarity of the SSA servo amplifiers is such that a positive input signal
results in a negative voltage at terminal M1 with respect to terminal M2.

44..22..11 V
Veelloocciittyy ccoonnttrrooll uussiinngg aarrm
maattuurree vvoollttaaggee ffeeeeddbbaacckk
Using the differential input amplifier to adjust its value, the armature
voltage can be used as velocity feedback in all cases when low regulation ratio
and low speed accuracy are acceptable.

44..33 C
Cuurrrreenntt m
mooddee
In order to operate the servo amplifier as a current amplifier, the velocity
loop should be disabled. This is done by converting the error amplifier into a
low gain DC amplifier which has a flat response beyond the desired current
bandwidth. In this mode, R11 and C3 have to be removed from the circuit.

Cuurrrreenntt lloooopp
44..44 C
Current loop control is obtained by op amp U1/3 (Current amplifier) and R20,
C11 which form a lag-lead network for current loop. The standard amp is equipped
with R20 (100Kohm) and C11 (0.01 µF) to get optimum current response for an
average motor in this power range. These components are mounted in solderless
terminals.

44..55 C miittss
Cuurrrreenntt lliim
The servo amplifier can operate in the following voltage-current plane:
+V

-Ip -Ic Ic Ip

Intermittent Continuous
zone zone -V

Ic - Continuous current Ip - Peak current

Fig. 4.1: Voltage-Current plane

SSA - Rev 6/98

 12

Each amplifier is factory calibrated to have this shape of voltage-current

operating area with rated values of continuous and peak current limits. To adjust
other values of current limits, the user has to calculate and insert two
resistors (one for the continuous limit and one for the peak limit). In addition
to these "static" current limits, there are two analog inputs for "dynamic"
control of the current limits. By applying 0-3V to the continuous current limit
input and/or 0-7V for the peak current limit input, the user can scale down the
static current limits from the preset values down to zero.
44..55..11 TTiim
mee ddeeppeennddeenntt ppeeaakk ccuurrrreenntt lliim
miitt
The peak current is so designed that its duration is a function of the peak
amplitude and the motor actual operating current before the peak demand. The
maximum peak current is available for 2 second. The duration of Ip is given by:

Ip - Iop
Tp = 2.2ln ----------
Ip - Ic

Ic - Amplifier continuous current rating.

Ip - Peak demanded (not amplifier Ip)
Iop - Actual operating current before the peak demand.

Example:
A motor is driven by an SSA-12/55 amplifier at constant speed and constant
current of 5A. What is the maximum possible duration of a 20A peak ?

20 - 5
Tp = 2.2ln -------- = 1.38 seconds
20 - 12

SSA - Rev 6/98

 13

44..66 P
Prrootteeccttiivvee ffuunnccttiioonnss
All the protective functions activate internal inhibit. If the cause of the
inhibit disappears, the amplifier will restart automatically. The user can
monitor this function by checking terminal 12.
44..66..11 S
Shhoorrtt cciirrccuuiitt pprrootteeccttiioonn
The short circuit protection uses the capability of the power MOSFET to
tolerate high energy peaks for short periods of time. This protection is realized
by sensing current in the DC line. Every current peak above a certain value will
inhibit the amplifier for a period of approx. 30mS.
If a short circuit condition still exists, the cycle will repeat endlessly
while turning on the Inhibit LED (Inh) to indicate short circuit condition. The
amplifier is protected against shorts between outputs, and either output to
ground.
44..66..22 U Ovveerr vvoollttaaggee pprrootteeccttiioonn
Unnddeerr//O
Whenever the DC bus voltage is under or over the limits indicated in the
technical specifications, the amplifier will be inhibited.
mppeerraattuurree pprrootteeccttiioonn
44..66..33 TTeem
Temperature sensor is mounted on the heatsink. If, for any reason, the
temperature exceeds 90 °C the amplifier will be inhibited. The amplifier will
restart when the temperature drops below 85 °C.

SSA - Rev 6/98

 14

+13
R11
R20 C11
10M 100K 100K 100K .01MF
T2
4700PF 1000PF
-13

R12 C3

U1C
U1B 10K
R1 100K
1
4700PF
2 10K
R61
C41 IxR PWM
.01MF CONVERTER
100K
CURRENT
FEEDBACK
R6 10K VS
3
4 IC
R7 CURRENT POWER M1
LIMITS STAGE
C12 IP
10K M2
.01MF
R40 R42 G

5 EXTERNAL IC LIMIT CONTROL (ECL IC)

6 EXTERNAL IP LIMIT CONTROL (ECL IP)

7 CURRENT MONITOR
11

12 INHIBIT OUTPUT 16
PROTECTIONS EXT. INH. LED
15
EXT. Ic LED
+13V -13V

NOTE: INHIBIT INPUT

14 13 8 9 10
1. ALL COMPONENTS DENOTED BY
CW CCW
ARE MOUNTED IN SOLDERLESS PINS.

SSA - Rev 6/98

 15

J1

1
U10

U7 U8

C3
C11 U6
C12
C41 U1

R40
R11
R6
J3
R7
1
R12
R1
R42
R20 Q1 U11
R61 J2

U2

U9 U3

T2

U4
U5
INH. VS IC T1

SSA -CONTROL BOARD

SSA - Rev 6/98

 16

55.. TTeerrm
miinnaall D
Deessccrriippttiioonn
55..11 TTeerrm
miinnaallss ooff tthhee bbaassiicc S
SSSA
A
Power Stage
Terminal Function Remark
Vs Power input
positive
M1 Armature This output will be negative when a positive signal is
output fed to one of the inputs.
M2 Armature This output will be positive when a positive signal is
output fed to one of the inputs.
G Power input
common

Control stage

Terminal Function Remark

1 Reference input For more details see chapter 4.1.
2 Circuit common
3 Differential input For more details see chapter 4.1.
(negative)
4 Differential input For more details see chapter 4.1.
(positive)
5 External continuous For more details see chapter 4.5.
current limit
6 External peak current For more details see chapter 4.5.
limit
7 Current monitor The scale is 3/Ic (V/A)
8 CW disable Low level input voltage *** will disable half
of the power bridge and rotation in one
direction.

*** -1V < Vil < 1V ; 2V < Vih < 30V

Source sink capability - 2mA min.

SSA - Rev 6/98

 17

Control stage - Cont.

Terminal Function Remark

9 CCW disable Low level input voltage *** will disable half
of the power bridge and rotation in one
direction.
10 Inhibit input Low level input voltage* will disable the
power bridge. See 7.1.1 for details
11 Circuit common
12 Inhibit indication Whenever the amplifier is inhibited, whether
output by an internal or external cause, this open
collector output goes low state (Max sink
current 10mA).
13 -13V 15mA external load.
14 +13V 15mA external load.
15 Output for external Ic
LED
16 Output for external
Inhibit LED

15 1

16 2

G M2 M1 VS

CONNECTORS
SSA WITHOUT SIB CARD

*** -1V < Vil < 1V ; 2V < Vih < 30V

Source sink capability - 2mA min.

SSA - Rev 6/98

 18

55..22 TTeerrm
miinnaallss ffoorr S
SIIB
B--S
SSSA
A

The numbering of the SIB-SSA terminals (1-16) is identical to the numbering of

the SSA control board connector.

16 1

G M2 M1 VS

CONNECTORS
SSA WITH SIB-SSA CARD

SSA - Rev 6/98

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66.. IInnssttaallllaattiioonn pprroocceedduurreess

66..11 M
Moouunnttiinngg
As there are hazardous voltages in some models, and all models require
protection against environmental effects/elements, and each may be required to
provide adequate earth, these models must be adequately enclosed in accordance
with electric shock protection and earth requirements and Enclosure Degrees of
Protection requirements in accordance with the most recent version of standard
EN60204-1.
The SSA series dissipates its heat by natural convection up to loads of 400W.
For higher output load the amplifier should be mounted on an additional heatsink
or cooled by fan.

Wiirriinngg
66..22 W
Warning! As the units (some of the models) are used with hazardous voltages
(>60vdc), and there is no electrical isolation provided, adequate electrical
separation in accordance with the requirements of EN60204-1 (latest version) must
be provided at their outputs, and to the supplies.
Proper wiring, grounding and shielding techniques are important in obtaining
proper servo operation and performance. Incorrect wiring, grounding or shielding
can cause erratic servo performance or even a complete lack of operation.
a) Keep motor wires as far as possible from the signal level wiring (feedback
signals, control signals, etc.).
b) If additional inductors (chokes) are required, keep the wires between the
amplifier and the chokes as short as possible.
c) Minimize lead lengths as much as is practical. The DC power supply should be
mounted as closed as possible to the amplifier.
d) Use a shielded flat ribbon cable for connecting the signals. Avoid running
this ribbon in close proximity to power leads or other sources of EMI noise.
If you use the SIB-SSA interface, use twisted and shielded wires for
connecting all signals (command and feedback).
e) Use a 4 wires twisted and shielded cable for the motor connection.
f) Shield must be connected at one end only to avoid ground loops.
g) All grounded components should be tied together at a single point (star
connection). This point should then be tied with a single conductor to an
earth ground point.

SSA - Rev 6/98

 20

h) After wiring is completed, carefully inspect all conditions to ensure

tightness, good solder joints etc.

A reliable connection with the spring type connectors (on the SIB-SSA) is achieved
with wires of 0.5mm2 (AWG 20) stripped to a length of 11mm (.043").

66..33 LLooaadd iinndduuccttaannccee

The total load inductance must be sufficient to keep the current ripple within
the limits (10%-20% of rated current is recommended). The current ripple (Ir) can
be calculated by using the following equation:

0.5 x Vs
Ir = ---------- (A)
f x L
L - load inductance in mH.
Vs - Voltage of the DC supply in Volts.
f - Frequency in KHz.

If motor inductance does not exceed this value, a choke should be added (on the
motor branch) summing together the required inductance
Lch = L - Larm
Lch - Choke inductance
Larm - Armature inductance

66..44 D
DC weerr ssuuppppllyy
C ppoow
DC power supply can be at any voltage in the range defined within the technical
specifications (chapter 3). The supply source must comply with the safety aspects
of the relevant requirements in accordance with the most recent version of the
standard EN60950 or equivalent Low Voltage Directive Standard, all according to
the applicable Overvoltage Category. If the power source to the power supply is
the AC line (through a transformer), safety margins have to be considered to
avoid activating the under/over voltage protection due to line variations and/or
voltage drop under load.
The nominal DC bus voltage should be in the following range:

SSA - Rev 6/98

 21

1.2Vdcmin < Vdc < 0.9Vdcmax

Vdcmin - Minimum DC bus in the table of chapter 3

Vdcmax - Maximum DC bus in the table of chapter 3

Recommended minimum power supply capacitance for single phase connection:

For SSA-12/55 5600 µF
For SSA-6,8/100 3300 µF
For SSA-5/200 1500 µF
The transformer power should be calculated to have the capability to deliver
power to the amplifier (including peak power), without significant voltage drops.
In addition to the above, the transformer must comply with the safety aspects
of the relevant requirements in accordance with the most recent version of the
standard EN60742 (Isolating and Safety Isolating Transformers).The AC/DC power
supply must comply as such, with the relevant safety requirement of the most
recent version of the standard EN60950 or equivalent Low Voltage Directive
Standard, all according to the applicable Overvoltage Category.
While driving high inertia loads, the power supply must be equipped with a
shunt regulator, otherwise, the amplifier will be disabled whenever the
capacitors are charged above the maximum voltage.

SSA - Rev 6/98

 22

66..55 W
Wiirriinngg ddiiaaggrraam
mss

A M1
Motor B M2
SSA
Chassis
GND

Minimum acceptance

=============================================================

Power wires twisted together

Motor A M1
SSA
B
M2
Chassis
GND

Acceptable for most applications

============================================================

Power wires twisted and shielded

Motor A M1
SSA
B
M2
Chassis
GND

Optimum wiring, minimum RFI

SSA - Rev 6/98

 23

Isolating transformer
+Vs
PS/S
DC power common is internally
connected to control common

*
SSA

* Heat sink
Heatsink

Guide lines for connecting a non isolated amplifier with an isolating power transformer

Ground:
DC power common
Motor chassis
Amplifier's heat sink

Do not ground:
Control common - It is internally connected to the power common. Grounding the control
common will create a ground loop.

Caution:
- If source of motor command is grounded, use amplifier's differential input.
Otherwise, ground loop is created.

SSA - Rev 6/98

 24

+Vs
PS/S
DC power common SSA

Control common
Heatsink

+Vs

DC power common SSA

To additional
SSAs Control common
Heatsink

CONNECTING MORE THAN ONE SSA

All rules about supply connections described in the previous page are also valid for
multi-SSA connection.

SSA - Rev 6/98

 25

A
Tacho 1
2

4 +
Motor command _
3
11

External continuous current limit

5

External peak current limit

6

7 Current monitor

8 CW disable

9 CCW disable
Twisted and shielded pair
10 Inhibit input

12 Inhibit output

13 -13V

14 +13V

SSA CONTROL CONNECTIONS

TACHOGENERATOR FEEDBACK

SSA - Rev 6/98

 26

Motor command

A
1

M1 +
4
M2 _
3
11
ARMATURE FEEDBACK

External continuous current limit

5

External peak current limit

6

Current monitor
7

8 CW disable

9 CCW disable

Twisted and shielded pair

Inhibit input
10

12
Inhibit output

13 -13V

14 +13V

SSA CONTROL CONNECTIONS

ARMATURE VOLTAGE FEEDBACK

SSA - Rev 6/98

 27

77.. S
Sttaarrtt -- U
Upp P
Prroocceedduurreess

All the operations of this chapter do not require to power on the unit. The steps of
paragraph 7.1 must be performed before proceeding to the appropriate feedback sensor.

77..11 CCoom mmmoonn pprroocceedduurreess ffoorr aallll aam

mpplliiffiieerrss ttyyppeess
77..11..11 IInnhhiibbiitt llooggiicc
Select the desired Inhibit logic you need:
a) Disable by Low
Inhibit function will be activated by connecting its input (terminal 10) to a
low level signal. If no signal is applied to this input the amplifier will be
enabled upon power on.

+5V

3K

SSA DISABLED BY ACTIVE LOW OR CLOSED CONTACT

b) Enable by High
Inhibit function will be de-activated by connecting its input (terminal 10)
to a high level signal and adding an external resistor (Rex) as in the
following examples. If no signal is applied to this input the amplifier will
be disabled upon power on.

SSA - Rev 6/98

 28

The power of Rex is given by:

V2
P = ----- (Watt)
800

+13V

14
+5V

3K

INHIBIT
INPUT C
10

Rex

Rex=1.2K, 0.25W

+5V

3K
INHIBIT
+V INPUT
C
10
Signal from
external source Rex

SSA ENABLED BY ACTIVE HIGH OR CLOSED CONTACT

SSA - Rev 6/98

 29

77..11..22 V
Veelloocciittyy m
mooddee
To operate in velocity mode the velocity loop should be enabled by converting
the error amplifier to a high gain PI amplifier. Make sure that R11 (30 ohm),R12
(475Kohm) and C3 (0.022µF) are installed on the board (in solderless terminals).

77..11..33 C
Cuurrrreenntt m
mooddee
a) Converting the amplifier into current mode
To operate in current mode the velocity loop should be disabled by converting
the error amplifier to a low gain proportional amplifier.
- Remove R11 (in solderless terminals).
- Remove C3 (in solderless terminals).
In addition, you must make sure that the velocity feedback signal is not
entering the error amplifier. If a tachogenerator is used, make sure that it is
not connected to the amplifier.
b) Selecting the reference signal gain
The SSA has 2 inputs: single ended input (terminal 1) and a differential input
(terminals 3,4).
Care must be taken not to apply input voltage above the maximum input voltage as
this will cause the input op amp to operate beyond its limits ( +10V) and in
extreme cases may even damage the op amp.
The standard procedure recommends to use the differential input for the
reference signal.
Following are the input maximum voltage and impedance with the standard values
of input resistors:

INPUT - RESISTOR STANDARD MAX. Current Gain(A/V) INPUT IMPEDANCE

VALUE VOLTAGE (in current mode)
Terminal 1 - R1 100 Kohm 25V 0.33xIc 25 Kohm
Differential - 20Kohm 30V 0.33xIc 30 Kohm
R6,7

See chapter 4.1 for calculation of other values

SSA - Rev 6/98

 30

77..11..44 S
Sttaattiicc ccuurrrreenntt lliim
miittss
The amplifiers' current limits can be adjusted statically (without load) by
inserting fix resistors on the logic board.
The current limits are factory adjusted to the amplifier's rated values.
Reducing the nominal limits is performed as follows:
a) Continuous current limit adjustment
R40 should be calculated and inserted as follows:
Ic(new)
Q = --------- 0 < Q < 1
Ic(nom)

Ic(new) - new value of continuous current limit

Ic(nom) - nominal current rating of the amplifier (6, 8 or 12A)
2Q
R40 = ----- (Kohm)
1-Q

b) Peak current limit adjustment

R42 should be calculated and inserted as follows:

Ip(new)
P = --------- 0 < P < 1
Ip(nom)

Ip(new) - new value of peak current limit.

Ip(nom) - peak current rating of the amplifier (15, 20 or 30A)

10P
R42 = ----- (Kohm)
1-P

SSA - Rev 6/98

 31

77..22 V
Veelloocciittyy ccoonnttrrooll uussiinngg ttaacchhooggeenneerraattoorr ffeeeeddbbaacckk
When using tacho feedback, it is recommended to use the single ended input for
the tacho signal and to use the differential input for the reference signal in
order to reduce common mode noises.

For tacho voltage at maximum application speed higher than 5V:

R1 = 20xVtm - 100 (Kohm) (R1 > 1K)

Vtm - tacho voltage at maximum velocity

R6 = R7 = 2xVdm (Kohm)
Vdm - maximum reference voltage at the differential input.

For tacho voltage at maximum application speed lower than 5V:

R1 = 1K

10Vdm
R6 = R7 = -------- (Kohm)
Vtm
Vdm - maximum reference voltage at the differential input.

77..33 V maattuurree vvoollttaaggee ffeeeeddbbaacckk

Veelloocciittyy ccoonnttrrooll uussiinngg aarrm
Using the differential input amplifier to adjust its value, the armature
voltage can be used as velocity feedback in all cases when low regulation ratio
and low speed accuracy are acceptable. Attention must be paid not to saturate the
operational amplifier by observing the following restrictions:

R6 = R7 = 2xVs (Kohm)
C12 = C41 = 0.1-0.47µF, ceramic capacitors.

Vs is the DC voltage of the power supply.

SSA - Rev 6/98

 32

The velocity loop is closed by connecting the following terminals:

Terminal M1 to terminal 4.
Terminal M2 to terminal 3.

The reference signal is fed to input 1 and R1 should be calculated as follows:

Vs
K = -----
Vam
Vam - armature voltage at maximum application speed

R1 = 20xV1mxK - 100 (Kohm)

V1m - maximum reference voltage at input 1.

Reducing the DC and AC gains of the error amplifier by increasing C3 and R11 is
recommended. The final values depend on the type of motor and mechanical load, so
optimum results will be achieved by the empirical method. Using this method a
speed range of 20:1 and ±3% speed accuracy may be achieved.

Calculating R61 for IxR compensation

In order to improve the speed stability in various load conditions, an IxR
compensation is required. This is achieved by inserting R61. The value of R61 can
either be achieved empirically (chapter 8.4) or by using the following equation:

2.4xVam(R1+100)
R61 = ----------------- (Kohm)
IcxV1mxRa

R1, Vam, V1m same values as above.

Ic - Amplifier's nominal current
Ra - Total armature resistance in Kohm

SSA - Rev 6/98

 33

88.. A
Ammpplliiffiieerr aaddjjuussttm
meenntt aanndd ddiiaaggnnoossttiiccss

Important remarks:
A. If all the previous steps were accomplished you may now turn the power on and
continue with the following adjustments. You may skip the step for current mode or
velocity mode according to your application.
B. In some applications, especially those where the motor electrical parameters (total
inductance and resistance in the armature circuit) are much smaller or larger than
normally encountered, the current loop response should be optimized before proceeding
with the following steps - See Appendix A.

88..11 B
Baallaannccee aaddjjuussttm
meenntt
If the motor is rotating with the command signal at zero voltage, a balance
adjustment will be necessary. Turn the balance trimmer (T2) as required until the
motor stops. As a rule, have the command signal connected and set to zero when
balancing the amplifier. This way, any offset in the command signal will be
canceled.

88..22 V miittss
Veerriiffyyiinngg tthhee ssttaattiicc ccuurrrreenntt lliim
To measure the current limits, a load must be connected (choke or motor
armature) to the armature output. Measurement can be done either by direct
current measurement or by using the current monitor (terminal 7).

3
current monitor scale = --------- (V/A)
Ic(nom)

SSA - Rev 6/98

 34

88..33 E
Exxtteerrnnaall C
Cuurrrreenntt LLiim
miitt ((E
ECCLL)) aaddjjuussttm
meenntt
If you do not use this feature, skip this chapter.

The amplifiers' static current limits can be scaled down dynamically by two
external voltage signals.

a) ECL function on continuous current limit:

V5 x Ic(nom)
Ic = --------------- V5 - voltage applied at terminal 5.
3
Voltages between 0 to 3V will control continuous current limit from zero to
Ic(nom) or Ic(new) as set in the static adjustment.

b) ECL function on peak current limit:

V6 x Ip(nom)
Ip = --------------- V6 - voltage applied at terminal 6.
7.5
Voltages between 0 to 7.5V will control peak current limit from zero to Ip(nom)
or Ip(new) as set in the static adjustment. Maximum permissible voltage at these
terminals is ±12V

meenntt ooff tthhee IIxxR

Addjjuussttm
88..44 A mppeennssaattiioonn
R ccoom
If you do not use this feature, or if you have already calculated and inserted
R61 according to 7.3, skip this chapter.
In order to improve the speed stability in various load conditions, the
following procedure should be performed:
a. Connect a decade resistor box in the terminals of R61 - start with 1Mohm
b. Run motor at 2/3 of nominal speed.
c. Apply nominal load.
d. Decrease resistance value until motor speed reaches the no load speed.
e. Install R61 as close as possible to the decade box value.
f. Notice that a high compensation may result in unstable operation of the
amplifier.

SSA - Rev 6/98

 35

88..55 R
Reessppoonnssee aaddjjuussttm
meenntt ((V
Veelloocciittyy m
mooddee oonnllyy))
In most applications optimum response is achieved by adjusting the compensation
(COMP) trimmer. Adjustment procedure is as follows:
- Provide the amplifier with a low frequency, bi-directional square wave velocity
command (A 0.5Hz, ±2V waveform is often employed).
- Apply power to the amplifier, and while monitoring the tachometer signal,
gradually adjust the COMP trimmer from the CCW toward the CW position.
Optimum response (critically-damped) should be achieved at some position
before reaching full CW on T1. Fig 8.1 illustrates the types of waveforms
observed for various setting of T1.
In some applications, especially those where the load inertia is much smaller
or larger than normally encountered, the standard compensation components values
of 0.033µF for C3 and 470Kohm for R12 may not allow an optimum setting of the
COMP trimmer T1. In fact, the velocity loop may be unstable for any setting of
T1.
In these cases different values for C3 and R12 must be chosen. The following
procedure can be used to select these values:
- Short circuit C3 with a short jumper wire.
- Replace R12 with a decade resistance box. Initially set the box resistance at
20Kohm.
- Set T1, the COMP trimmer to approximately midrange.
- Input a 0.5Hz, 2V bi-directional square wave velocity command signal to the
amplifier.
- Apply power, and while monitoring the tachometer signal, gradually increase the
value of the box resistance until optimum response as depicted in Fig 8.1 is
achieved.
- Substitute the closest standard value discrete resistor for R12 and remove the
decade resistance box.
- Remove the shorting jumper across C3, and again check the response using the
squarewave test signal. If near optimum results are obtained, trim the
response using the COMP trimmer T1 for the optimum.

SSA - Rev 6/98

 36

- If the previous step does not yield satisfactory results, if unacceptable

overshooting has been noted, substitute a larger value than 0.033 µF; or, if
the response is overdamped substitute a smaller value than 0.033 µF. Repetition
of this procedure should yield an optimum choice for C3.

Reference input signal

Overdamped: T1 too far CW

Critically damped: T1 optimum

Underdamped: T1 too far CCW

Fig. 8.1
Typical velocity response waveforms

SSA - Rev 6/98

 37

99.. TTaabblleess aanndd S

Suum
mmmaarriieess
99..11 A
Addjjuussttiinngg ttrriim
mmmeerrss
Two trimmers are installed on the upper board of the amplifier with the
following functions:
T1 (compensation) - see 8.5.
T2 (balance) - See 8.1.

99..22 LLE
EDD ddiiaaggnnoossttiiccss
Three LEDs are installed on the upper board of the amplifier with the following
designations: Ic, In, Vs. Under normal operation only Vs should illuminate (Vs
indicates the existence of supply voltages). The following table represents the
faults indications of the LEDs:

1 2
In X
Ic X
Vs X X

X - Illuminated LED
1. One or more of: external inhibit, under/over voltage, short circuit, excess
temperature.
2. Continuous current limit.

SSA - Rev 6/98

 38

A
Appppeennddiixx A
A -- R
Reessppoonnssee aaddjjuussttm
meenntt -- ccuurrrreenntt lloooopp
In most applications it is not necessary to adjust the current loop to achieve
the optimum response. When there are extreme electrical parameters in the
armature circuit (inductance and resistance) the standard components values of
0.01µF for C11 and 100Kohm for R20 may not yield with the optimum response. The
current loop should be optimized as follows:
- Turn the amplifier to a current amplifier by removing R11 and R12.
- Provide the amplifier with a bi-directional square wave current command (100-
200Hz, ±2V waveform is often employed).
- Apply power to the amplifier, and monitor the load current either by a current
probe or by the current monitor.

If the current response is not critically damped, use the following procedure:

- Short circuit C11 with a short jumper wire.

- Replace R20 with a decade resistance box. Initially set the box resistance at
10Kohm.
- Apply the square wave test signal to the amplifier input.
- Apply power, and while monitoring the load current, gradually increase the
value of the box resistance until optimum response as depicted in Fig A-1 is
achieved.
- Substitute the closest standard value discrete resistor for R20 and remove the
decade resistance box.
- Remove the shorting jumper across C11, and again check the response using the
square wave test signal.
- If the previous step does not yield satisfactory results, if unacceptable
overshooting has been noted, substitute a larger value than 0.01 µF; or, if
the response is overdamped, substitute a smaller value than 0.01 µF. Repetition
of this procedure should yield an optimum choice for C11.

SSA - Rev 6/98

 39

Reference input signal

C11 too large / R20 too small

Critically damped

C11 too small / R20 too large

Fig. A-1
Typical current response waveforms

SSA - Rev 6/98

 40

SSA - Rev 6/98

 41

TOP VIEW SIDE VIEW

2.7 x 4

55
65

14

CONTROL
10 CONNECTOR POWER
CONNECTOR
3
6.5
21
61
67
88
93.5
97
100

CONTROL
24.5 CONNECTOR

34.5 POWER
CONNECTOR

ALL DIMENSIONS ARE IN mm.

SSA - Rev 6/98

 42

2.7 x 4
SIB OPTION
65 45

53

10
94
6
100 94

SSA WITH SIB-SSA CARD

SIB OPTION
65

53 68
6

100 5 80.2
3x2

SSA WITH RIGHT ANGLE

MOUNTING LEGS

SSA - Rev 6/98

 43

S
Seerrvviiccee C
Ceenntteerrss aanndd W
Waarrrraannttyy
ISRAEL

Elmo Motion Control LTD

64 Gisin ST.

Petah-Tikva 49103

Tel: (03)922-0864

Fax: (03)922-6949

EUROPE

Elmo Motion Control

7 Stanserstrasse

CH-6362 Stansstad

Switzerland

Tel: (041)6100775

Fax: (041)6100778

U.S.A

Elmo Motion Control INC.

1200 Woodruff Road, Suite C-22,

Greenville, SC 29607 -5731

Tel: (864) 288-9316

Fax: (864) 288-9318

WARRANTY PERFORMANCE
The warranty performance covers only ELMO's products and only the elimination of problems that are due to

manufacturing defects resulting in impaired function, deficient workmanship or defective material.

Specifically excluded from warranty is the elimination of problems which are caused by abuse, damage,

neglect, overloading, wrong operation, unauthorized manipulations etc.

The following maximum warranty period applies:

12 months from the time of operational startup but not later than 18 months from shipment by the

manufacturing plant.

Units repaired under warranty have to be treated as an entity. A breakdown of the repair procedure (for

instance of the repair of a unit into repair of cards) is not permissible.

Damage claims, including consequential damages, which exceed the warranty obligation will be rejected in

all cases.

If any term or condition in this warranty performance shall be at variance or inconsistent with any

provision or condition (whether special or general) contained or referred to in the Terms and Conditions of

Sales set out at the back of Elmo's Standard Acknowledge Form, than the later shall prevail and be

effective.

SSA - Rev 6/98