User`s guide

Chapter 5 - Installation for AdeptOne Robots
42 Adept PA-4 Power Chassis User’s Guide, Rev D
5.2 A Amplifier Modules
The A Amplifier module is a plug-in module that contains the circuitry and amplifying
components to drive the Joint-1 or Joint-2 motor in an AdeptOne robot. In a typical robot
system, there are two A Amplifier modules in the Adept PA-4 power chassis: A Amp #1
on the far left and A Amp #2 to the right of A Amp #1.
Figure 5-2. A Amplifier Connectors and Indicators
Table 5-1. A Amplifier Functions
Amp Slot 1 Amp Slot 2 Amp Slot 3
AdeptOne
Robot
A Amp #1
drives motor 1
A Amp #2
drives motor 2
B+ Amp
drives motors 3 and 4
1. Status LEDs. When an LED is 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 indicates that the input voltage
has dropped below the specified level or an
over-temperature fault has been detected on an amp
module.
Phase A, B, C Short Fault indicate that an over-current
in the motor leads to one of the phases has been
detected.
2. Amplifier Control connector – the sEJI-to-Amp cable is
installed on this connector.
3. Motor Power Output connector: the Arm Power cable
is installed on this connector.
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP
HIGH VOLTS ON
A PHASE SHORT FAULT
B PHASE SHORT FAULT
C PHASE SHORT FAULT
A AMP
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DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY EXTINGUISHED.
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