4.3.5.1. SA3X3Y (Medium-Scale 6-Axis All-In-One Drive unit)

The drive unit plays a role of amplifying power by sending current to each motor according to the current command from the servo board. The 6 axis all-in-one drive unit can operate 6 motors at the same time, and the following table shows its components.

Table 4‑34 The Components of SA3X3Y (Medium-Scale 6-Axis All-In-One Drive unit)

Component		Function
BD552 (Logic Board)		Separation of the PWM signal from the servo board into upper and lower IPM drive signals, and execution of error processing
BD551 (Strong Electric Board)	Gate Drive Module	Generation of IPM gate signals
	Gate Power Module	Generation of gate power
	Current Detection Unit	Detection of the current flowing into the motor
	DB Control	Control of dynamic brake according to the signals from the servo board
Other Parts	Heat Sink	Emission of heat generated from IPM
Other Parts	IPM	Switching Device

n The Reference Number of Servo Drive Unit

Table 4‑35 The Mark of Type of Servo Driver Series

Classification	Mark of Type
Servo Amp	SA

Table 4‑36 The Specifications of Drive Unit

Item	Classification		Application
IPM Capa.	1L	4X	HC2500BD-10	6 Axis All-In-One Type
	3X	3Y	HS165 applied
	3X	3Z	HC2500BD-00, HC2500IK
Year	00 ~ 99		Year of Manufacture: 2000 ~ 2099
Month	01 ~ 12		Month of Manufacture: 1 ~ 12
Serial No.	001 ~ 999		No. of units manufactured per month: 1 ~ 999

Table 4‑37 IPM Capacity

Large/Medium Size	L	(IPM Rated Current) 150A, (Hall Sensor Rated Current) 4V/75A
	X	(IPM Rated Current) 100A, (Hall Sensor Rated Current) 4V/50A
	Y	(IPM Rated Current) 75A, (Hall Sensor Rated Current) 4V/50A
	Z	(IPM Rated Current) 50A, (Hall Sensor Rated Current) 4V/25A

Table 4‑38 Hall Sensor Marks

AMP Model	Hall Sensor Mark (Spec.)	Full-Scale Current (Im)	AMP Feedback Constant (Iv)
Large/Medium –Scale (6 Axis) Amp	0 (4V/75A)	140.62Apeak	PM150CSD060(150A)
	1 (4V/50A)	93.75Apeak	PM150CSD060(150A) PM100CSD060(100A) PM75CSD060(75A) PM50CSD060(50A)
	2 (4V/25A)	46.87Apeak
	3 (4V/15A)	28.12Apeak
	4 (4V/10A)	18.75Apeak
	5 (4V/ 5A)	9.37Apeak

Caution:

As the drive unit varies depending on the robot, so please check out the form of it in replacing it.

Figure 4.49 BD552 Component Layout

Figure 4.50 BD551 Component Layout

Table 4‑39 BD552 Connector

Name	Use	External Device Connection
CNBS1, 2, 3	PWM Signal and Error Signal	Servo Board(BD542) CNBS1,2,3
CNSGA	/PWMON, SVERR, BRAKE	Sequence Board (BD530) CNSGA
CNPWM 1~6	PWM Signal and Error Signal	Servo Amp BD551 CNPWM1~6
CNPWM 7~8	Additional Axis PWM Signal and Error Signal	Option Board(BD554, BD556) CNPWM

Table 4‑40 BD551 Connector

Name	Use	External Device Connection
CNDBPOW	Power for DB control	CNPB of BD5C0
CNDB7, 8	Additional Axis DB drive signal	Option board (BD554, BD555) CNDB
CNM 1~6	Motor Connection	CMC1, CMC2
CNPWM 1~6	PWM signal and error signal	Servo Amp BD552 CNPWM1~6
CNPPNN	Power for motor drive	Drive Power Unit (BD561) CNPN1
CNFG1	The frame ground of the Main axis motor	CMC1
CNFG2	The frame ground of the Wrist Axis motor	CMC2

Table 4‑41 BD552 LEDs

Name	Color	Status Display
SV	Yellow	ON if PWM is ON
POW	Green	OFF if current dip/sag occurs

4.3.5.1. SA3X3Y (Medium-Scale 6-Axis All-In-One Drive unit)​

4.3.5.1. SA3X3Y (Medium-Scale 6-Axis All-In-One Drive unit)