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Chapter 2 - Installation
2.17 Additional Power Chassis Information
Overview of B+ Amplifier Module
The B+ Amplifier module is a plug-in module that contains the circuitry and amplifying
components to drive two of the motors in an Adept 550 robot.
In a typical Adept 550 robot system, there are two identical B+ Amplifier modules in the
Adept PA-4 power chassis. The amplifier module on the left-hand side, called Module 1,
drives motors 1 and 3. The amplifier module on the right-hand side, called Module 2,
drives motors 2 and 4.
Connectors and Indicators
+
B
AMP
DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY EXTINGUISHED.
HIGH VOLTS ON
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP
SHORT FAULT
B1 B2
B1
A
M
P
L
I
F
I
E
R
C
T
O
E
N
A
T
C
R
H
O
L
R
E
S
T
R
I
C
B2
T
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
44
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Status LEDs. The left-hand column of LEDs is for the first
motor controlled by this module; the right-hand column is
for the second motor controlled by this module. When an
LED is turned on it indicates the following conditions:
High Volts On indicates the 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.
Open Ckt Fault indicates that an open circuit in the motor
leads has been detected.
HV Sag/Over Temp indicates that either the input voltage
has dropped below the specified level or an over-tempera-
ture fault has been detected on an amplifier module.
Short Fault indicates that an over-current in the motor leads
has been detected.
Amplifier Control connector – the VJI-to-Amp cable
connectors are installed here.
Note: the Teach Restrict connector is not used on an Adept
550 robot system.
Motor Power Output connector – the Motor Power cable is
installed here.
Adept 550 Robot Instruction Handbook, Rev A
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