4.3.5.6. SA1A (Small-Scale 1 Axis Drive Unit ; Option)

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 small-scale additional axis drive unit can drive one motor, and the following figure shows is components.

Figure 4.55 BD556 Component Layout

Table 4‑59 The Composition of SA1A (Small-scale 1 Axis Drive Unit: Option)

Components		Function
BD556 (Amp Board)	Logic Section	Conversion of PWM signal from the 6 axis servo amp into upper and lower drive signals of IPM and execution of error processing and regenerative control
	Gate Power Module	Generation of gate power
	Current Detection Unit	Detection of the current flowing into the motor
Other Components	Heat Sink	Emission of heat generated from IPM
Other Components	IPM	Switching Device

Table 4‑60 SA1A (Small-Scale 1 Axis Drive Unit: Option) Connector

Name	Use	External Device Connection
CNPWM	PWM signal and error signal	CNPWM7 or CNPWM8 of the 6-Axis Servo Amp (BD552 or BD553)
CNM	Motor drive output, Frame Ground	AMC1 or AMC2
CNPN	For input of drive power	CNPN2 of the 6-Axis Servo Amp (BD561 or BD563)

4.3.5.6. SA1A (Small-Scale 1 Axis Drive Unit ; Option)​

4.3.5.6. SA1A (Small-Scale 1 Axis Drive Unit ; Option)