User`s guide

Chapter 4 - Installation for AdeptSix Robots
36 Adept PA-4 Power Chassis User’s Guide, Rev D
Figure 4-1. Adept PA-4 Power Chassis with sMAI Module
The sMAI, as with all of Adept's distributed-control products, is connected to a host
Adept SmartController via the SmartServo interface (based on IEEE 1394).
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 sMAI 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 and teach mode safety circuits
• Smartservo (IEEE-1394) interface for distributed control
See page 38 for a description of the connectors and indicators on the sMAI.
adept
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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
DUAL E 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
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
DUAL E AMP
D
O
N
O
I
S
CO
CH1
C
M
O
T
O
R
P
O
W
E
R
O
U
T
P
U
T
D
U
Dual E Amp #1
Dual E Amp #2
Dual E Amp #3
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MAI Mo
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