Comau C3G Plus, Operation And Maintenance Manual, Page: 244 / 266

SERVO AMPLIFIERS UNIT SAU2
The SAU 2 unit is an integrated power unit which has the task of generating controlled terns of sinusoidal
currents to drive up to 8 synchronous three-phase brushless motors.
It is an intelligent unit controlled by microprocessor which manages the commands and statuses from and for
the Servo Control CPU (SCC2) master unit.
It is a complete unit which supports the radiator, recovery resistance, motor brake control circuit, motor ther-
mal switch circuit, axes overtravel circuit, soft start circuit, fan unit.
It is a modular and sectional unit; inside it can host the circuits for managing the eight axes with different
power ratings, up to a continuous available power of 12 kVA. An EPROM flash is provided to keep robot
axes specifications if RPT is not installed in system.
CONFIGURATIONS
The SAU 2 has different power rates and different number of axes depending on the type of robot and num-
ber of axes to be managed (max. 8). A code identifies the configuration of the SAU2. On the front of the
SAU2 stickers show the physical configurations of the rack with the number of the axes and ratings of the
power element associated with them.
Model Description P/N Composition
Model 1 C3G-SAU2 6 Axes S robot Servo Amplifier 10910180
Ax1, Ax2, Ax3 = 15/45
Ax4, Ax5, Ax6 = 4/12
Model 2 C3G-SAU2 6 Axes H robot Servo Amplifier 10910280
Ax1, Ax2, Ax3 = 40/120
Ax4, Ax5, Ax6 = 15/45
Model 3 C3G-SAU2 3 Axes S robot Servo Amplifier 10910380
Ax1, Ax2, Ax3 = 15/45
Ax4, Ax5, Ax6 = option
Model 4 C3G-SAU2 3 Axes H robot Servo Amplifier 10910480
Ax1, Ax2, Ax3 = 40/120
Ax4, Ax5, Ax6 = option
Model 5 C3G-SAU2 Main Frame Servo Amplifier 10910580
Ax1, Ax2, Ax3 = option
Ax4, Ax5, Ax6 = option
present:
·
power supply
·
soft start
·
digital interface electronics
Model 6 C3G-SAU2 6 Axes X1 robot Servo Amplifier 10912780
Ax1, Ax2, Ax3 = 80/240A
Ax4, Ax5, Ax6 = 15/45A
Model 7 C3G-SAU2 6 Axes NH4 robot Servo Amplifier 10912880
Ax1 = 40/120A
Ax2 = 80/240A
Ax3 = 40/120A
Ax4, Ax5, Ax6 = 15/45
Wirings
Model 1: wiring for 8 axes
Model 2: wiring for 6 axes (the insertion of axes 7-8 implies the addition of the corresponding
wiring to the motors)
Model 3: wiring for 8 axes
Model 4: wiring for 6 axes
Model 5: the wiring is not foreseen; this will be handled depending on the machine configuration.
Model 6: wiring for 6 axes
Model 7: wiring for 6 axes.
MAINTENANCE C3G
Plus
7-54 08/0702
SERVO
AMPLIFIERS
UNIT
SAU2