Table of Contents
Advertisement
Chapter 4 - Installation for AdeptSix Robots
Figure 4-1. Adept PA-4 Power Chassis with sMAI Module
The sMAI, as with all of Adept's distributed-control products, is connected to a host
Adept SmartController via the SmartServo interface (based on IEEE 1394).
The PA-4 CAT-3 features:
• AC-DC power conversion for amplifier modules
• Multiple amplifier/module support (4 slots)
• EN-954 Category 3-compliant E-Stop contactors
The sMAI module features:
• RISC microprocessor for servo loop control
• Interfaces to 6 axes of Adept power amplifiers
• Interfaces to robust digital serial absolute encoders
• Interfaces to 6 axes of electromechanical brakes
• Redundant E-Stop and teach mode safety circuits
• Smartservo (IEEE-1394) interface for distributed control
See
page 40
for a description of the connectors and indicators on the sMAI.
38
Adept PA-4 Power Chassis User's Guide, Rev E
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Dual E Amp #1
Dual E Amp #2
Dual E Amp #3
sMAI Module
DUAL E AMP
DUAL E AMP
DU
DO NOT REMOVE OR INSTALL THIS
DO NOT REMOVE OR INSTALL THIS
DO NO
MODULE UNLESS HIGH VOLTS LED
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
IS COMPLETELY DISTINGUISHED
IS CO
HIGH VOLTS ON
HIGH VOLTS ON
PWM ON
PWM ON
LOW VOLTS ON
LOW VOLTS ON
OPEN CKT FAULT
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT
SHORT FAULT
CH1
CH2
CH1
CH2
CH1 C
A
A
M
M
P
P
L
L
®
I
I
F
F
I
I
E
E
R
R
C
C
O
O
N
N
T
T
R
R
O
O
L
L
CH1
CH2
CH1
CH2
M
M
M
O
O
O
T
T
T
O
O
O
R
R
R
P
P
P
O
O
O
W
W
W
E
E
E
R
R
R
O
O
O
U
U
U
T
T
T
P
P
P
U
U
U
T
T
T
adept
technology, inc.
Hide quick links:
Advertisement
Table of Contents
