4.3.4.5 H6D1Z (Servo Gun Drive Module; Optional)

The drive module performs a power amplification function that allows the current to flow to the individual phases of the motor according to the current command from the servo board. The servo gun drive module can drive one motor of 50A or below and is configured as follows.

Figure 4.44 Parts Placement Diagram of BD659 for H6D1Z

Table 4-39 Configuration of H6D1Z

	Components	Functions
BD659 (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 50A

Table 4-40 Description of the Connectors of H6D1Z

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