4.3.5.3. SA3A3D (Small sized-6 axes integral type-driving apparatus)

4.3.5.3. SA3A3D (Small sized-6 axes integral type-driving apparatus)

 

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.

 

A small sized-diode module converter is formed integrally with a small-sized servo amplifier, and converts three-phase current provided from an electronic field module to direct current through the rectification of a diode module so as to store it in a smoothing capacitor. When the speed of the robot is reduced, power generated from a motor is consumed through a transistor and resistance. The diode module converter is constructed as shown below.

 

 

Table 4‑49 Construction of SA3A3D (Small sized-6 axes integral type-driving apparatus)

Component		Function
BD553 (IPM 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
BD563 (Converter Board)	Rectifier Unit	Generation of DC power circuit provided from the AC input main power.
	Regenerative Control	Drive of IGBT if PN voltage increases
	Error Detection Unit	The detection of overvoltage, overheated regenerative resistance, and bibliographic data input errors
Other Parts	Heat Sink	Emission of heat generated from IPM
	Capacitor	DC power smoothing
	Regenerative IGBT	Execution of regenerative control
	IPM	Switching Device

 

 

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

 

 

Figure 4.52 BD553 Component Layout

 

Figure 4.53 BD563 Component Layout

 

 

Table 4‑50 Description of connector BD553

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
CNPWM7~8	Additional Axis PWM Signal and Error Signal	Option Board (BD554, BD556) CNPWM
CNM1~6	Motor Connection	CMC1
CNPPNN	Power for motor drive	Drive Power Unit (BD561) CNPN1
CNFG	The frame ground of the Main Axis motor	CMC1

 

 

Table 4‑51 Description of BD553 LED

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

 

 

Table 4‑52 Description of connector BD563

Name	Use	External Device Connection
CNRST	3-Phase Power Input	Electrical Module CNRST
CNSGC	/PWMON, OV, FLT, FB	Sequence Board(BD530) CNSGC
CNDR	Regenerative Power Output	Regenerative Resistance
CNTR	Detection of Overheated Regenerative Resistance	Thermal Sensor of Regenerative Resistance
CNPN1,2	For Supply of PN Power	6-Axis Servo Amp CNPPNN, Additional Axis CNPN

 

 

Table 4‑53 Description of BD563 LED

Name	Color	Status Display
SV	Yellow	ON if PWN is ON
POW	Green	OFF if control voltage sag occurs
DR	Red	ON if regenerative power discharge operates
PN	Red	ON if PN voltage is over 42V
RYON	Red	OFF if PN power discharge operates