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Slave Amplifier Connector

For six-axis robot configurations that only require the standard communication interfaces and motors sizes up to 750 W, a dual Slave Amplifier (G0200C) can be interfaced to the Enhanced Guidance G2400C controller to produce a six-axis Guidance G2600C controller. This configuration provides six tightly coupled motor drives at a lower price than networking two controllers. Figure 7-28 shows a picture of this controller.

Figure 7-28: 6-axis Guidance G2600C Controller

The Enhanced G2400C is on the left and the G0200C is on the right. The Slave provides two motor connectors that have the same pinout as those provided on the G2400C. The Slave also contains the same motor power input posts and protected earth pin as the G2400C and these are normally jumpered to the G2400C. All encoders must be interfaced to the four encoder connectors provided on the G2400C.

The G2400C and the G0200C communicate over a single ribbon cable that plugs into two identical Slave Amplifier Connectors that are located on each control unit. This connector is a Samtec EHT-117-01-S-D-SM-P, shown in Figure 7-29.

Figure 7-29: Samtec EHT-117-01-S-D-SM-P

An off-the-shelf straight-through cable for connecting the two Samtec connectors is provided with the G0200C. Table 7-18 shows the specification for this cable.

NOTE: If the execution of six servo processes is consuming too much of the available CPU capacity and there is not adequate time for executing the user's application program, the servo load can be reduced by doing any of the following:

• Increase the "Trajectory Generator update period in sec" (DataID 600) to 0.004 or longer.
• Increase the "Servo update period in sec" (DataID 603) from the default of 0.000125 to 0.000250.
• Increase the "Position loop update rate" (DataID 10021) from 0.0005 to 0.001.