Adept technology Adept XUSR Guia do Utilizador descarregar pdf (Página 12)

Introduction

12 Adept Cobra i600/i800 Robot User’s Guide, Rev G

Figure 1-2. Robot Joint Motions

Adept Amps-in-Base (AIB™)

The amplifiers for the Adept Cobra i-series robots are embedded in the base of the robot.

This amplifier section is known as the AIB (amp-in-base). It provides power amplifiers

and full servo control.

Adept AIB features:

• On-board digital I/O

• Low EMI for use with noise-sensitive equipment

• No external fan for quiet robot operation

• 8 kHz servo rate delivers low positional errors and superior path following

• Sine wave commutation lowers cogging torque and improves path following

• Digital feed-forward design maximizes efficiency, torque, and velocity

• Temperature sensors for all amplifiers and motors for maximum reliability and

easy troubleshooting

Figure 1-3. Adept AIB

Joint 1

Inner

Link

Outer

Link

Joint 2

Joint 4

Joint 3

AIB on Adept Cobra

i600 Robot

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Adept technology Adept XUSR Guia do Utilizador Página 12