User`s guide

Chapter 3 - Installation for Adept Viper Robots
30 Adept PA-4 Power Chassis User’s Guide, Rev D
Figure 3-4. J Amplifier Module Connectors and Indicators
NOTE: The above descriptions apply to the H, I, J, and K amplifier
modules.
1. Status
LEDs. The left column of LEDs is for the first motor
controlled by this module; the right column is for the second motor
controlled by this module. When an LED is turned on, it indicates
the following conditions:
High Volts On indicates high voltage to the amps is turned on.
PWM On indicates that current servo is on. It does not go on until
calibration is complete.
Low Volts On indicates the low voltage supply in the power
chassis is on.
Note: the three
LED pairs below indicate faults and are visible
momentarily before the system turns off.
Open Ckt Fault indicates that an open circuit in the motor leads
has been detected.
HV Sag/Over Temp Fault left
LED, when lit, indicates that the fault
was caused by a sag in voltage. The right
LED, when lit, indicates
the fault was caused by an over-temperature condition on the
amplifier heat sink.
Short Fault indicates that an over-current in the motor leads has
been detected.
2. Amplifier Control connector: the sDAI-to-Amp cable is installed
on this connector at the factory. This connector is covered by the
Interface Box.
3. Motor Power Outlet connectors: the Joint 1 to 6 power cables from
the Interface Box wiring harness are installed on these connectors.
J-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 EXTINGUISHED
PWM ON
CH1
HIGH VOLTS ON
CH2
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CH2CH1
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