E, F, And G Amplifier Modules; Figure 4-2. Amplifier Module Connectors And Indicators - adept technology PA-4 Series User Manual

4.2

E, F, and G Amplifier Modules

The E, F, and G Amplifier modules are "dual" (dual-channel) plug-in modules that con-
tain the circuitry and amplifying components for driving two of the motors in an
AdeptSix robot. See
AdeptSix 300
and
AdeptSix 300CR
AdeptSix 600
NOTE: Connectors on E, F, and G amps have the same functionality.
DUAL E AMP
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY EXTINGUISHED
HIGH VOLTS ON
PWM ON
1
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP FAULT
SHORT FAULT
CH1 CH2
A
M
P
L
I
F
2
I
E
R
C
O
N
T
R
O
L
CH1 CH2
M
O
T
O
R
P
3
O
W
E
R
O
U
T
P
U
T

Figure 4-2. Amplifier Module Connectors and Indicators

Adept PA-4 Power Chassis User's Guide, Rev E
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Table 4-1.
Table 4-1. AdeptSix Amplifier Functions
Amp Slot 1 (left)
E Amp
drives motors 1 and 4
F Amp
drives motors 1 and 4
1. Status s. The left column of
LED
controlled by this module; the right column is for the second motor
controlled by this module. When an LED is on, it indicates the
following conditions:
High Volts On indicates high voltage to the amps is turned on.
PWM On indicates that current servo is on. It does not go on until
calibration is complete.
Low Volts On indicates the low voltage supply in the power
chassis is on.
Note: the three pairs below indicate faults and are visible
LED
momentarily before the system turns off.
Open Ckt Fault indicates that an open circuit in the motor leads
has been detected.
HV Sag/Over Temp Fault left
was caused by a sag in voltage. The right
the fault was caused by an over-temperature condition on the
amplifier heat sink.
Short Fault indicates that an over-current in the motor leads has
been detected.
2. Amplifier Control connector: the sMAI-to-Amp cable is installed
on this connector at the factory. This connector is covered when
shipped and users should not need to access it.
3. Motor Power Outlet connectors: the Arm Power cables are
installed on these connectors.
E, F, and G Amplifier Modules
Amp Slot 2 (center) Amp Slot 3 (right)
E Amp E Amp
drives motors 2 and 5 drives motors 3 and 6
G Amp F Amp
drives motors 2 and 5 drives motors 3 and 6
s is for the first motor
LED
, when lit, indicates that the fault
LED
when lit, indicates
LED,
39