E, F, and G Amplifier Modules
Adept PA-4 Power Chassis User’s Guide, Rev E
39
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
Table 4-1
.
NOTE:
Connectors on E, F, and G amps have the same functionality.
Figure 4-2. Amplifier Module Connectors and Indicators
Table 4-1. AdeptSix Amplifier Functions
Amp
S
lot 1 (left)
Amp
S
lot 2 (center)
Amp
S
lot
3
(right)
Adept
S
ix
3
00
and
Adept
S
ix
3
00CR
E Amp
drives motors 1 and 4
E Amp
drives motors 2 and 5
E Amp
drives motors 3 and 6
Adept
S
ix 600
F Amp
drives motors 1 and 4
G Amp
drives motors 2 and 5
F Amp
drives motors 3 and 6
1. Status
LED
s
. The left column of
LED
s is for the first motor
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
LED
pairs below indicate faults and are visible
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
LED
, when lit, indicates that the fault
was caused by a sag in voltage. The right
LED,
when lit, indicates
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.
DUAL E AMP
LO
W
V
OLTS O
N
H
V
SAG/O
V
ER TEMP FAULT
DO NOT REMOVE OR IN
S
TALL THI
S
SHORT FAULT
OPE
N
CKT FAULT
MODULE UNLE
SS
HIGH VOLT
S
LED
I
S
COMPLETELY EXTINGUI
S
HED
P
W
M O
N
CH1
HIGH
V
OLTS O
N
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
1
2
3
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