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B+ Amplifier Module
Adept PA-4 Power Chassis User’s Guide, Rev D 43
5.3 B+ Amplifier Module
The B+ amplifier module is a plug-in module that contains the circuitry and amplifying
components to drive two robot motors. In a typical Adept robot system, there is one B+
amplifier module in the Adept PA-4 power chassis. The B+ amp module is located to the
right of the A amp modules.
Figure 5-3. B+ Amplifier Connectors and Indicators
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 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 either the input voltage
has dropped below the specified level or an over-temperature
fault has been detected on an amp module.
a
Short Fault indicates that an over-current in the motor leads
has been detected.
2. Amplifier Control connector: the sEJI-to-Amp cable is
installed on this connector.
Teach Restrict connector: the Teach Restrict-to-B+ Amp cable
is installed on this connector.
3. Motor Power Output connector: the Arm Power cable is
installed on this connector.
a
On B+ amplifier modules at revision level P2 or greater, or revision A or greater,
the 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.
PWM ON
LOW VOLTS ON
OPEN CKT FAULT
HV SAG/OVER TEMP
HIGH VOLTS ON
SHORT FAULT
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B+ AMP
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B2
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DO NOT REMOVE OR INSTALL THIS
MODULE UNLESS HIGH VOLTS LED
IS COMPLETELY EXTINGUISHED.
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