User`s guide

Chapter 3 - Installation for Adept Viper Robots
28 Adept PA-4 Power Chassis User’s Guide, Rev D
Figure 3-3. Adept PA-4 Power Chassis with sDAI HP Module (Viper s1700 Robots)
The PA-4 CAT-3 features:
• AC-DC power conversion for amplifier modules
• Multiple amplifier/module support (4 slots)
• EN-954 Category 3 compliant E-Stop contactors
The sDAI module features:
• RISC microprocessor for servo loop control
• Interfaces to 6 axes of Adept power amplifiers
• Interfaces to robust digital serial absolute encoders
• Interfaces to 6 axes of electromechanical brakes
• Redundant E-Stop safety circuits.
• SmartServo (IEEE-1394) interface for distributed control
See Section 3.3 on page 31 for a description of the connectors and indicators on the sDAI.
CAUTION
HIGH
VOLTAGE
INSIDE
B
R
A
K
E
STATUS
SmartServo
1
2
R
S
2
3
2
E
X
P
I
O
X
S
L
V
C
N
P
G
1
2
3
C
N
P
G
4
5
6
C
N
2
5
C
N
2
9
DAI
s
adept
technology, inc.
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
A
M
P
L
I
F
I
E
R
C
O
N
T
R
O
L
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
H-AMP I-AMP H-AMP
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
CH2CH1
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
LOW VOLTS ON
HV SAG/OVER TEMP FAULT
DO NOT REMOVE OR INSTALL THIS
SHORT FAULT
OPEN CKT FAULT
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY DISTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
CH2CH1
Status Panel
Brake Release
SmartServo 1 & 2
XSLV
RS-232
EXPIO
H-Amp
I-Amp
H-Amp
sDAI Module (HP)
®
Encoder Connector
Interface Box
Latching Screws
Power Connector