4.3.4.2 H6D6A (Small-Sized 6 Axes Integrated Drive Module)

The drive module performs a power amplification function that allows the current to flow to individual phases of the motor according to the current command from the servo board. The six axes integrated drive module can drive six motors at the same time and is configured as follows.

The three-phase current supplied from the power supply module is rectified through a diode module and then converted into direct current and stored in a smoothing capacitor. When the motor speed of the robot is decelerated, the electric power generated from the motor will be consumed through transistors and resistors. The relevant configuration is as follows.

Table 4-25 Configuration of H6D6A (Small-Sized 6 Axes Integrated Drive Module)

	Components	Functions
BD653 (Power Board)	Gate drive circuit	Generates the IPM gate signal
	Gate power module	Generates the gate power
	Current detection part	Detects the current that flows through the motor
	Regenerative control	Drives the IGBT when the PN voltage rises
	Error detection part	Detects the overvoltage, regenerative resistor overheating, and undervoltage errors
	High voltage capacitor	Smooths the direct current
BD654 (Interface Board)	Sequence interlocking part	Interlocks between the sequence status and the servo on signal
	System DIO board input and outputs	Reserved IO unit inside the controller
Other Parts	Heat sink	Releases the heat generated from power elements to the outside
	Rectification part	Generates the circuit for the DC power that is supplied to the motor from the AC input main power
	Regenerative IGBT	Performs regenerative discharge
	IPM	A switching device

[Cation]: The drive module differs depending on the type of the robot, so you must check the type when replacing it.

• Configuration of the Type Number of the Small-Sized 6 Axes Integrated Drive Module

Table 4-26 Type Symbol of the Small-Sized 6 Axes Integrated Drive Module

Category	Type symbol
Hi6 drive module	H6D

Table 4-27 Specification of the Small-Sized 6 Axes Integrated Drive Module

Table 4-28 Capacity of the Small-Sized IPM

	Small-sized
A	(IPM allowable current rating) 30A, (Hall sensor current rating) 4V/15A
D	(IPM allowable current rating) 10A, (Hall sensor current rating) 4V/5A

Table 4-29 Symbols of the Hall Sensors of the Small-Sized IPM

Drive Model	Hall sensor symbol (Specification)	Full-scale current (Im)	IPM specification (Allowable current rating)
Small-sized drive module	3 (4V/15A)	27.27Apeak	6MBP50VAA060 (30A)
	4 (4V/10A)	18.18Apeak	6MBP50VAA060 (30A)
	5 (4V/5A)	9.19Apeak	6MBP20VAA060 (10A)
	6 (4V/3A)	5.45Apeak	6MBP20VAA060 (10A)
	7 (4V/6A)	10.91Apeak	6MBP50VAA060 (30A)
	8 (4V/2A)	3.64Apeak	6MBP20VAA060 (10A)
	9 (4V/1A)	1.82Apeak	6MBP20VAA060 (10A)

[Caution]: The drive module differs depending on the type of the robot, so you must check the type when replacing it.

Figure 4.41 Parts Placement Diagram of BD653

Table 4-30 Description of the Connectors of BD653

Name	Usage	Connection of external devices
CNPWM1–6	PWM signals and IPM error signals	Board-to-board connectors of BD654
CNRST	3-phase power input	CNRST for the electronic module
CNCVT	Converter part error signal	Board-to-board connectors of BD654
CNDR	Regenerative power output	Regenerative resistor
CNTR	Regenerative resistor overheating detection	Regenerative resistor temperature sensor
CNM16	Motor drive output	CMC1
CNPN7–8	Direct current for the drive module of the additional axis	CNPN for the drive module for an optional additional axis
CNFG1, CNFG4	Frame ground for motors	CMC1

Table 4-31 Description of the LEDs of BD653

Name	Color	Status display
MC ON	Yellow	Will be turned on when the magnet contact is driving
POW	Green	Will be turned on when the control voltage of the converter part is normal
DR	Red	Will be turned on the regenerative discharge is operating
PN	Red	Will be turned on when the PN voltage is higher than 42V
RYON	Red	Will be turned off when the PN discharge operation starts

Figure 4.42 Parts Placement Diagram of BD654

Table 4-32 Description of the Connectors of BD654

Name	Usage	Connection of external devices
CNBS1-3	PWM signals and IPM error signals for 8 axes	Board-to-board connectors of BD640
CNPWM1-6	PWM signals and IPM error signals for individual axes	Board-to-board connectors of BD653
CNPWM7-8	PWM signal and IPM error signal for the additional axis	CNPWM of the drive module (BD 658 or BD 659) of the additional axis
CNCVT	Converter part error signal	Board-to-board connectors of BD653
TBIO	Reserved only IO terminal block	Reserved

Table 4-33 Description of the LEDs of BD654

Name	Color	Status Display
MC	Yellow	Will be turned on when the magnet contact is driving
POW	Green	Will be turned on when the control power is normal