User`s guide

Adept PA-4 Power Chassis User’s Guide, Rev D 7
List of Figures
Figure 1-1. Adept PA-4 Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 1-2. Product ID Label for CAT-3 PA-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 2-1. Installing Mounting Brackets on an Adept PA-4 Chassis . . . . . . . . . . . . . . . 21
Figure 2-2. Adept PA-4 Power Chassis Dimensions for Adept Viper . . . . . . . . . . . . . . . . 22
Figure 2-3. Basic Adept PA-4 Power Chassis Dimensions (Without Modules) . . . . . . . . 23
Figure 2-4. PA-4 Dimensions With Mounting Brackets Installed . . . . . . . . . . . . . . . . . . . 24
Figure 3-1. Adept PA-4 Power Chassis with sDAI Module (Viper s650/s850 Robots) . . . 26
Figure 3-2. Adept PA-4 Power Chassis with sDAI 100W Module (Viper s1300 Robots) . 27
Figure 3-3. Adept PA-4 Power Chassis with sDAI HP Module (Viper s1700 Robots) . . . 28
Figure 3-4. J Amplifier Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 3-5. sDAI Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 3-6. External Brake Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 3-7. PA-4 with Interface Box Tilted Open . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 4-1. Adept PA-4 Power Chassis with sMAI Module . . . . . . . . . . . . . . . . . . . . . . . . 36
Figure 4-2. Dual Amplifier Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . 37
Figure 4-3. sMAI Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 5-1. PA-4 with sEJI Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 5-2. A Amplifier Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Figure 5-3. B+ Amplifier Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Figure 5-4. sEJI Module Connectors and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Figure 6-1. PA-4 Chassis LED Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 6-2. Insulating Blue Wire in Power Cord (200-240 VAC) . . . . . . . . . . . . . . . . . . . . 50
Figure 6-3. Changing Voltage in Power Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Figure 6-4. Removing Insulation from Blue Wire in Power Cord (380-415 VAC) . . . . . . 52