Adept PA-4 Power Chassis User’s Guide, Rev E
9
Introduction
1
1.1
Manual Overview
This manual describes the installation and maintenance of the Adept PA-4 CAT-3 power
chassis as it is used in the:
• Adept Viper and Cobra s850 robot product lines (see
Chapter 3
)
• AdeptSix robot product line (see
Chapter 4
)
• AdeptOne robot with the Adept SmartController product line (see
Chapter 5
)
NOTE:
For this manual, occurrences of Viper s650/s850 refer to those
robots used with the PA-4 power chassis.
The following chapters apply to all four families of robots:
•
Chapter 1
- Introduction
•
Chapter 2
- Mounting the PA-4 Chassis
•
Chapter 6
- Maintenance
Figure 1-1. Adept PA-4 Power Chassis
NOTE:
This PA-4 CAT-3 is also compatible with earlier Adept products.
See
Section 1.3 on page 11
.
CAUTION
HIGH
VOLTAGE
INSIDE
B
R
A
K
E
STATUS
SmartServo
1
2
R
S
2
3
2
E
X
P
I
O
X
S
L
V
C
N
P
G
1
2
3
C
N
P
G
4
5
6
C
N
2
5
C
N
2
9
DAI
s
adept
technology, inc.
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2
CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
J-AMP
J-AMP
J-AMP
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
CH2
CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
CH2
CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
®
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