4.3.4.4 H6D1X (Carriage Drive Module; Optional)

드라이브모듈(Drive Module)은 서보보드로부터의 전류지령에 따라 모터 각 상에 전류를 흘려주는 전력증폭기능을 수행합니다. 캐리지용 드라이브모듈은 100A 이하의 1개의 모터를 구동시킬 수 있으며, 다음과 같이 구성되어 있습니다.

Figure 4.43 Parts Placement Diagram of BD658 for H6D1X

Table 4-37 Configuration of H6D1X

	Components	Functions
BD658 (IPM board)	Logic part	Converts the PWM signals received from the drive module for the 6 axes into the upper and lower sides drive signals of the IPM, and processes errors
	Gate power module	Generates the gate power
	Current detection part	Detects the current that flows through the motor
Other parts	Heat Sink	Releases the heat generated from IPM to the outside
	IPM	A switching device of 100A

Table 4-38 Description of the Connectors of H6D1X

Name	Usage	Connection of external devices
CNPWM	PWM signal and error signal	CNPWM7 or CNPWM8 of the drive module (BD652 or BD654) for the 6 axes
CNM	Motor drive output	AMC1 or AMC2
CNFG	Frame ground for the motor	AMC1 or AMC2
CNPN	Drive direct current power input	CNPN7 or CNPN8 of the drive module (BD651 or BD653) for the 6 axes