100
6.7 Replacing IPM Boards
6.7.1 Location of IPM Boards
The IPM boards are located in the robot controller as shown below.
Robot
series
SLOT
SLOT 6 SLOT 5 SLOT 4 SLOT 3 SLOT 2 SLOT 1
Joint # 6 5 4 3 1 2
IPM model SS SS SS S L M
VM-G
Motor capacity (W) 100 200 200 400 1500 750
Joint # 6 5 4 3 2 1
IPM model SS SS SS S S M
VS-G
Motor capacity (W) 50 80 100 200 400 750
Joint # 6 5 4 3 2 1
IPM model SS SS SS SS SS SS
VP-G
Motor capacity (W) 30 30 30 50 80 80
Joint # -- -- 4 3 2 1
IPM model -- -- M M L LL
HM-G
Motor capacity (W) -- -- 300 300 600 1000
Joint # -- -- 4 3 2 1
IPM model -- -- S S M L
HS-G
Motor capacity (W) -- -- 150 200 400 750
Joint # -- -- 4 3 2 1
IPM model -- -- SS S S S
XYC-G
Motor capacity (W) -- -- 100 200 200 400
Joint # -- -- 4 3 2 1
IPM model -- -- SS S S M (S) *
XR-G
Motor capacity (W) -- -- 50 400 400
750 (400) *
Note: The "--" in the above table denotes no board installed.
* Differs depending on the controller model.
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