User`s guide

Adept PA-4 Power Chassis User’s Guide, Rev D 25
Installation for Adept Viper
Robots 3
3.1 Overview
The PA-4 CAT-3 includes AC-DC power conversion electronics that support a range of
Adept power amplifiers and robot control modules. In addition, the PA-4 CAT-3 includes
dual (redundant) high-power AC contactors that, in combination with the sDAI, meet the
Category-3 E-Stop requirements per EN-954. The PA-4 is configured with the following
amplifier modules to support the Adept Viper robot systems listed below.
• Viper s1700: H and I amps
• Viper s1300: J and K amps
• Viper s650/s850 (with PA-4): J amps
The amplifiers in the Adept Viper robot system are controlled by an sDAI
distributed-control module. The sDAI module resides in the PA-4 chassis and contains a
RISC microprocessor and interface circuitry that close the servo loops for
high-performance robot motion. The sDAI is connected to a host Adept SmartController
via the SmartServo interface (based on IEEE 1394, also called “FireWire
®
”).
NOTE: The Adept Viper s1300 uses the 100W version of the sDAI; the
Adept Viper s1700 uses the HP version of the sDAI.