4.3.5.2. SD3A3D (Compact sized-6 axes integrated type-drive unit)
4.3.5.2. SD3A3D (Compact sized-6 axes integrated type-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 a compact 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 4‑48Construction of SD3A3D (Compact sized-6 axes integral type-drive unit)
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 | Emits heat generated by power modules |
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. |
n Type number system of compact 6-axis integrated drive unit
Table 4‑49 Type code of compact 6-axis integrated drive unit
Classification | Mark of Type |
Servo Drive | SD |
Table 4‑50 Specifications of compact 6-axis integrated drive unit
Item | Classification | Application | ||
IPM Capa. | 3A | 3D | HA006A, HH020 | 6-Axis integrated Type |
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 4‑51 Compact IPM Capacity
Compact Size | A | (IPM Rated Current) 30A, (Hall Sensor Rated Current) 4V/15A |
D | (IPM Rated Current) 10A, (Hall Sensor Rated Current) 4V/5A |
Table 4‑52 Hall sensor code for compact IPM
Drive Model | Hall Sensor Mark (Spec.) | Full-Scale Current (Im) | IPM Spec. (Rated Current) |
Compact servo drive unit | 3 (4V/15A) | 27.27Apeak | PM30CSJ060(30A) |
4 (4V/10A) | 18.18Apeak | ||
5 (4V/5A) | 9.19Apeak | PM10CSJ060(10A) | |
6 (4V/3A) | 5.45Apeak | ||
7 (4V/6A) | 10.91Apeak | PM30CSJ060(30A) | |
8 (4V/2A) | 3.64Apeak | PM10CSJ060(10A) | |
9 (4V/1A) | 1.82Apeak |
Table 4‑53Specifications of compact 6-axis regenerative IGBT
Regenerative IGBT | Z | 50A, Regenerative Resistance: 15Ω 500W 1EA Applicable |
Table 4‑54 Specifications of compact 6-axis integrated electrolytic condenser
Chemical Condenser | 1C | 3300uF 1EA |
| Caution: As the drive unit varies depending on the robot, so please check out the form of it in replacing it. |
Figure 4.58 BD553 Component Layout
Figure 4.59 BD563 Component Layout
Table 4‑55Description of connector BD553
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 |
CNPWM7~8 | Additional Axis PWM Signal and Error Signal | Option Board (BD554) CNPWM |
CNM1~6 | Motor Connection | CMC1 |
CNPPNN | Power for motor drive | Drive Power Unit (BD561) CNPN1 |
CNFG | The frame ground of the motor | CMC1 |
Table 4‑56Description of BD553 LED
Name | Color | Status Display |
SV | Yellow | ON if PWM is ON |
POW | Green | OFF with decreased control voltage |
Table 4‑57 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 | For Supply of PN Power | 6-Axis Servo Amp CNPPNN |
CNPN2 | For Supply of PN Power | Additional Axis Servo Amp CNPN |
Table 4‑58Description 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 |