4.3.5.1. SD3X3Y (Medium-Size) and SD3L3Y (Large-Size) 6-Axisintegrated 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.

Diode module converter is integrated with servo amp, and the 3-phase current from the electric module is rectified with a diode module; converted to DC; and stored in the 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 4‑36 The Components of SD3X3Y (Medium-Size) and SD3L3Y (Large-Size) 6-Axis integrated 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 (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
BD561 (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 Components	Heat Sink	Emits heat generated by power modules
	IPM	Switching Device
	Capacitor	DC power smoothing
	Regenerative IGBT	Execution of regenerative control

n Type number system of medium(Lagre) 6-axis integrated drive unit

Table 4‑37 Type code of medium(Large) 6-axis integrated drive unit

Classification	Mark of Type
Servo Drive	SD

Table 4‑38 Specifications of medium(Large) 6-axis integrated drive unit

Item	Classification		Application
IPM Capa.	3X	3Y	HS180, HH300, HX400	6-Axis integrated Type
	4X	2Y	HC2502B2D, HC2503B2D
	3L	3Y	HC3303B1DA, HC3303B2DA
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 4‑39 Medium(Large) Size IPM Capacity

Medium Size(Large 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 4‑40 Hall sensor code for medium(Large) IPM

AMP Model	Hall Sensor Mark (Spec.)	Full-Scale Current (Im)	AMP Feedback Constant (Iv)
Medium (Large) servo drive unit	0 (4V/75A)	140.62Apeak	PM150CL1B060(150A)
	1 (4V/50A)	93.75Apeak	PM100CL1B060(100A) PM75CL1B060(75A) PM50CL1B060(50A)
	2 (4V/25A)	46.87Apeak
	3 (4V/15A)	28.12Apeak
	4 (4V/10A)	18.75Apeak
	5 (4V/ 5A)	9.37Apeak

Table 4‑41Specifications of medium(large) 6-axis regenerative IGBT

Regenerative IGBT

150A, Regenerative Resistance: 2Ω 2000W 2EA Applicable

Table 4‑42 Specifications of medium(large) 6-axis integrated electrolytic condenser

Chemical Condenser

3300uF 2EA

Caution:

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

Figure 4.55 BD552 Component Layout

Figure 4.56 BD551 Component Layout

Table 4‑43 BD552 Connector

Name	Use	External Device Connection
CNBS1, 2, 3	PWM Signal and Error Signal	Servo Board(BD544) 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) CNPWM

Table 4‑44 BD551 Connector

Name	Use	External Device Connection
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 4‑45 BD552 LEDs

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

Figure 4.57 BD561 Component Layout

Table 4‑46 Description of BD561 connector

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	For Supply of PN Power	6-Axis Servo Amp CNPPNN, Additional Axis CNPN
CNPN2	For Supply of PN Power	Additional Axis Servo Amp

Table 4‑47 Description of BD561 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

4.3.5.1. SD3X3Y (Medium-Size) and SD3L3Y (Large-Size) 6-Axisintegrated Drive Unit​

4.3.5.1. SD3X3Y (Medium-Size) and SD3L3Y (Large-Size) 6-Axisintegrated Drive Unit