This module is dedicated to driving the 1–3 axis servo motors of large industrial robots such as the ABB IRB 6600 and IRB 6640.
These axes typically correspond to the robot’s base rotation, lower-arm swing, and upper-arm swing motions.
Functionally, the module serves as an intermediate hub between the robot controller and the servo motors: it converts the motion commands issued by the IRC5 controller into executable, high-power drive signals.
As a result, the module is a core component enabling robots to perform heavy-duty tasks—such as welding, material handling, and palletizing—in automotive and other high-load industrial environments.

Core Functions and Working Principles
1. Precision Drive Control

Uses advanced motor-control algorithms such as vector control or field-oriented control (FOC).

Receives position, speed, and torque instructions from the IRC5 main controller, and processes feedback from the motor’s encoder.

Performs high-speed real-time control calculations to adjust motor torque and position with high accuracy.

Generates PWM (Pulse Width Modulation) signals to drive the internal IGBT power bridge, converting DC-bus energy into three-phase AC power for the servo motor.

Ensures high-precision, stable motion control, especially for large-load joints on heavy-duty robot arms.

2. Safety Protection Mechanisms

Built-in STO (Safe Torque Off) capability complying with international safety standards such as IEC 61508.

In scenarios such as emergency stop, safety gate opening, or detected hazard, the STO function immediately cuts off motor torque output.

Prevents unintended motion and ensures operator and equipment safety.

3. Convenient Diagnostics and Maintenance

Equipped with LED status indicators for quick visual fault identification.

Supports comprehensive fault diagnostics and event logging through the IRC5 system interface.

Designed using a modular, hot-swappable structure (within safety permission), allowing rapid replacement of faulty modules without full system shutdown.

Greatly reduces equipment downtime and maintenance workload.

ABB UAD155A0111 3BHE029110R0111｜Controller Board｜