4.3.5.6. BD558T (Hi5a-T Controller Integrated Drive Unit)

The drive unit performs the power amplification function that allows the current to flow to each phase of the motor according to the current command from the servo board. The six-axis integrated drive unit can drive six motors at the same time and is configured, as shown below.

The diode module converter is integrated with the servo amp, rectifies and coverts the three-phase current supplied from the electric module into direct current using the diode module, and stores it into a smoothing capacitor. Then, the power generated from the motor when the robot decreases in speed is to be consumed through transistors and resistors. The converter is configured as follows.

Table 4-66Configuration of the BD558T (Hi5a-T 6-Axis Integrated Drive Unit)

Components		Functions
BD558T (Integrated board)	Logic unit	Separates the PWM signal from the servo board into the IPM upper/lower driving signals and performs error processing
	Gate drive module	Generates the IPM gate signal
	Gate power module	Generates the gate power
	Current detection unit	Detects the current that flows through the motor
	Rectifier	Generates the DC power from AC power that will be supplied to the motor
	Regenerative control	Drives IGBT when the PN voltage increases
	Error detection unit	Detects overvoltage, regenerative resistor overheating, and surge input errors
	Control power unit	Generates the control power (: 5 V, ± 15 V)
	Pre-charge unit	A power sequence unit that protects the DC power smoothing capacitor
Other parts	Heat sink	Dissipates the heat generated from the power devices
	IPM	Switching device
	Capacitor	Smoothens the DC power
	Regenerative IGBT	Performs regenerative control
	Regenerative resistor	Consumes regenerative power

Figure 4.62 Parts Allocation Diagram of the BD558T

Table 4-67Description of the Connectors for BD558T

Name	Usage	Connection of External Units
CNRST1	220 V Three-Phase (: R, S, T) Power Input	Magnetic Connector
CNPR1	220 V Single-Phase (: R, T) Power Input	Magnetic Connector
CNM1–6	Power PWM Output	Three Phases of Each Axis Motor
CNBS1–2	PWM Signal, Error Signal, Gate Power Supply	Servo Board (BD544) Interface
CNPNA1	Additional Axis Power Supply	Additional Axis AMP
CNDR1	Regenerative Resistor Connection	Regenerative Resistor
CNSMPS1	External SMPS Power Input	External SMPS
CNSMPS2	Sequence Board Power Supply	Sequence Board (BD567T)
CNP1	External Power Supply (24 V)	-
CNP2	External Power Supply (5 V)	-
CNPOW1	Control Power Supply (5 V, ±15 V)	Back Plane Board
CANIO1	CAN Communication 2PORT, Operation Sequence Signal	Mainboard (BD511)
CANS1	CAN Communication 1PORT	-
CANU1	External CAN Communication 1PORT	-
CNIF1	Operation Sequence Signal	Sequence Board (BD567T)
CNIF2	Operation Sequence Communication Signal	Sequence Board (BD567T)

Table 4-68 Type Symbol of the Hi5a-T 6-Axis Integrated Drive Unit

Classification	Type Symbol
Servo Drive	BD558T/BD558T-S

Table 4-69 Specification of the Hi5a-T 6-Axis Drive Unit

Item	Classification		Applicable
IPM Capacity	3A	3B	HH4, HH4L, HH7, HH8	6-Axis Integrated
Year	00–99		Production Year: 2000–2099
Month	01–12		Production Month: January–December
Serial No.	001–999		Monthly Production Quantity: 1–999 Units

Table 4-70 Capacity of the Hi5a-T IPM

Small	A	(IPM Current Rating) 50 A, (Hall Sensor Current Rating) 4 V / 15 A
Small	B	(IPM Current Rating) 20 A, (Hall Sensor Current Rating) 4 V / 5 A

Table 4-71 Hall Sensor Symbol for Hi5a-T IPMs

Drive Model

Hall Sensor Symbol (Specification)

Full-Scale Current (Im)

IPM Specification (Rated Current)

Small

Servo Drive

3 (4 V / 15 A)

28.12 Apeak

PSS50S71F6 (50 A)

PSS20S71F6 (20 A)

5 (4 V / 5 A)

9.37 Apeak

Table 4-72 Specification of Hi5a-T 6-Axis Integrated Regenerative IGBT

Regenerative IGBT

60 A Regenerative Resistor, 20 Ω 150 W 1 EA can be applied

Table 4-73 Specification of Hi5a-T 6-Axis Integrated Electrolytic Capacitor

Electrolytic Capacitor

470 uF 5 EA

* For IPM, hall sensors, IGBT, and electrolytic capacitors, the dedicated parts for the Hi5a-T controller should be used.

Caution:

Because the drive unit differs depending on the robot, you must check the model when replacing it.

4.3.5.6. BD558T (Hi5a-T Controller Integrated Drive Unit)​

4.3.5.6. BD558T (Hi5a-T Controller Integrated Drive Unit)